JPH0713007U - Intersection control device for unmanned vehicles - Google Patents
Intersection control device for unmanned vehiclesInfo
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- JPH0713007U JPH0713007U JP4006493U JP4006493U JPH0713007U JP H0713007 U JPH0713007 U JP H0713007U JP 4006493 U JP4006493 U JP 4006493U JP 4006493 U JP4006493 U JP 4006493U JP H0713007 U JPH0713007 U JP H0713007U
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- unmanned vehicle
- intersection
- wireless device
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Abstract
(57)【要約】
【目的】 無人車に備えた無線器の故障によって生起す
る虞のある交差点内での無人車どうしの衝突を防止する
ことができる無人車の交差点制御装置を提供する。
【構成】 無人車４の走行経路に特定エリアＡ，Ｂ，Ｃ
を設定し、各特定エリアＡ，Ｂ，Ｃの中央付近には地上
局６を各々設置するとともに、各特定エリアＡ，Ｂ，Ｃ
内の交差点ａ1 ，ａ2 ，ａ3 、ｂ1 ，ｂ2 ，ｂ3 、
ｃ1 ，ｃ2 ，ｃ3 の手前の走行経路に沿ってプレート６
を設置して、無線器を備えた無人車４が例えば特定エリ
アＡの交差点ａ1 に向って（矢印Ｄ方向）走行し、セン
サ４ｃがプレート６を検知すると、無人車４から地上局
６へ信号を発信するとともに、地上局６から無人車４へ
通過許可信号が発信されるが、無線器が故障の場合、こ
の通過許可信号が受信できず、無人車４がその場で停止
されるため、交差点ａ1 内での他の無人車４との衝突が
防止できるというものである。
(57) [Abstract] [PROBLEMS] To provide an intersection control device for an unmanned vehicle capable of preventing a collision between unmanned vehicles in an intersection which may occur due to a failure of a wireless device provided in the unmanned vehicle. [Configuration] Specific areas A, B, C on the traveling route of the unmanned vehicle 4
The ground station 6 is installed near the center of each of the specific areas A, B and C, and each of the specific areas A, B and C is
Intersections a 1 , a 2 , a 3 , b 1 , b 2 , b 3 ,
The plate 6 along the traveling path in front of c 1 , c 2 and c 3.
When the unmanned vehicle 4 equipped with a wireless device travels toward the intersection a 1 of the specific area A (arrow D direction) and the sensor 4c detects the plate 6, the unmanned vehicle 4 moves to the ground station 6. While the signal is transmitted, the ground station 6 also transmits a passage permission signal to the unmanned vehicle 4. However, if the wireless device fails, the passage permission signal cannot be received and the unmanned vehicle 4 is stopped there. It is possible to prevent a collision with another unmanned vehicle 4 in the intersection a 1 .
Description
【０００１】[0001]
本考案は、無線器を有する無人車の交差点制御装置に関し、無線器故障に対す る安全対策を施す場合に適用して有用なものである。 INDUSTRIAL APPLICABILITY The present invention relates to an intersection control device for an unmanned vehicle having a wireless device, and is useful when applied to safety measures against a wireless device failure.
【０００２】[0002]
走行経路に沿って無人車が走行するシステムには、通常、走行経路の分岐、合 流、交差等がある。そのため複数の無人車を走行させる場合には、これら分岐、 合流、交差等の各交差点で無人車どうしが衝突しないように交差点制御を行う必 要がある。 Systems in which an unmanned vehicle travels along a travel route usually include branching, merging, and intersections of the travel route. Therefore, when driving multiple unmanned vehicles, it is necessary to control the intersections so that unmanned vehicles do not collide with each other at the intersections such as branching, merging, and intersections.
【０００３】 そこで従来、このような交差点制御の一つとして、無人車が交差点に到着した とき、無人車間で無線通信を行うことによって交差点への進入問合わせを行い、 他の無人車がこの交差点内に進入していないことを確認した後、この交差点内に 進入するといった交差点制御を行っている。Therefore, conventionally, as one of such intersection control, when an unmanned vehicle arrives at the intersection, an inquiry is made to enter the intersection by performing wireless communication between the unmanned vehicles, and another unmanned vehicle is allowed to enter the intersection. After confirming that it has not entered, the intersection is controlled such that it enters the intersection.
【０００４】 このような交差点制御の具体例を図３及び図４に基づいて説明する。なお図３ は従来技術に係る無人車の交差点制御装置を示す説明図、図４は交差点制御の内 容を示すフローチャートである。A specific example of such intersection control will be described with reference to FIGS. 3 and 4. 3 is an explanatory view showing an intersection control device for an unmanned vehicle according to the prior art, and FIG. 4 is a flow chart showing the contents of the intersection control.
【０００５】 図３に示す３台の無人車１，２，３は同一のものであって、各々、無人車１， ２，３の走行制御を行う無人車ＣＰＵ１ａ，２ａ，３ａ及び他車との無線通信を 行う無線器１ｂ，２ｂ，３ｂを備えている。なお無線器１ｂ，２ｂ，３ｂには、 これらの無線通信を制御するＣＰＵが備えられている。The three unmanned vehicles 1, 2 and 3 shown in FIG. 3 are the same, and are the same as the unmanned vehicle CPUs 1a, 2a and 3a and other vehicles for controlling the traveling of the unmanned vehicles 1, 2 and 3, respectively. The wireless devices 1b, 2b, and 3b for performing the wireless communication are provided. The wireless devices 1b, 2b, 3b are provided with CPUs that control these wireless communications.
【０００６】 そこでいまこのような３台の無人車１，２，３が走行経路に沿って走行してお り、そのうちの無人車１が交差点に到着したとすると、この無人車１は、図４に 示す手順で交差点制御を行う。すなわち無人車ＣＰＵ１ａから無線器１ｂのＣＰ Ｕへ、当該交差点内へ進入可能か否かを問合せる（ステップ１００参照）。続い て無線器１ｂのＣＰＵが他の無人車２，３の無線器２ｂ，３ｂのＣＰＵへ無線通 信によって問合せる（ステップ１０１参照）。その際他の無人車２，３が何れも 当該交差点内に進入していなければ、無線器１ｂのＣＰＵは、当該交差点内には 他の無人車２，３がいないと判断し、無人車ＣＰＵ１ａに進入指示信号を出力す る（ステップ１０２，１０４参照）。その結果無人車ＣＰＵ１ａは、無人車１を 当該交差点内に進入させる。一方他の無人車２，３の何れかが先に当該交差点に 進入していれば、無線器１ｂのＣＰＵは、当該交差点内に他の無人車２または３ がいると判断し、無人車ＣＰＵ１ａに停止指示信号を出力する（ステップ１０２ ，１０３参照）。その結果無人車ＣＰＵ１ａは、他の無人車２または３が当該交 差点を通過するまで無人車１を待機させる。なお上記では無人車１に着目して説 明したが、もちろん他の無人車２，３についても同様である。Therefore, if three such unmanned vehicles 1, 2 and 3 are traveling along the travel route and one of the unmanned vehicles 1 arrives at the intersection, the unmanned vehicle 1 Intersection control is performed according to the procedure shown in 4. That is, the unmanned vehicle CPU 1a inquires of the CPU of the wireless device 1b whether or not it is possible to enter the intersection (see step 100). Then, the CPU of the wireless device 1b makes an inquiry to the CPUs of the wireless devices 2b and 3b of the other unmanned vehicles 2 and 3 by wireless communication (see step 101). At this time, if none of the other unmanned vehicles 2 and 3 has entered the intersection, the CPU of the wireless device 1b determines that there are no other unmanned vehicles 2 and 3 in the intersection, and the unmanned vehicle CPU 1a An approach instruction signal is output to (steps 102 and 104). As a result, the unmanned vehicle CPU 1a causes the unmanned vehicle 1 to enter the intersection. On the other hand, if any of the other unmanned vehicles 2 and 3 has entered the intersection first, the CPU of the wireless device 1b determines that there is another unmanned vehicle 2 or 3 in the intersection, and the unmanned vehicle CPU 1a The stop instruction signal is output to (steps 102 and 103). As a result, the unmanned vehicle CPU 1a causes the unmanned vehicle 1 to stand by until another unmanned vehicle 2 or 3 passes through the intersection. In the above description, the unmanned vehicle 1 is focused on, but the same applies to the other unmanned vehicles 2 and 3, of course.
【０００７】[0007]
しかしながら上述の如き従来技術では、無線器が故障していると、交差点内で 無人車どうしが衝突してしまう虞がある。例えば、図３に示すように無人車３の 無線器３ｂが故障している場合、この無人車３が無人車１よりも先に交差点内に 進入していても、無人車３から無人車１へ信号を発信することができない。この ため、無人車１の無線器１ｂのＣＰＵは、当該交差点内に他の無人車がいないと 判断し、進入指示信号を無人車ＣＰＵ１ａに出力してしまう。その結果無人車１ が当該交差点に進入してしまい無人車３と衝突してしまう。 However, in the conventional technique as described above, if the wireless device is out of order, unmanned vehicles may collide with each other at the intersection. For example, as shown in FIG. 3, when the wireless device 3b of the unmanned vehicle 3 is out of order, even if the unmanned vehicle 3 enters the intersection earlier than the unmanned vehicle 1, the unmanned vehicle 3 to the unmanned vehicle 1 To send a signal to. Therefore, the CPU of the wireless device 1b of the unmanned vehicle 1 determines that there is no other unmanned vehicle in the intersection and outputs an approach instruction signal to the unmanned vehicle CPU 1a. As a result, the unmanned vehicle 1 enters the intersection and collides with the unmanned vehicle 3.
【０００８】 本考案は、上記従来技術に鑑み、無人車に備えた無線器の故障によって生起す る虞のある交差点内での無人車どうしの衝突を防止することができる無人車の交 差点制御装置を提供することを目的とする。In view of the above-mentioned conventional technique, the present invention provides an intersection control of an unmanned vehicle capable of preventing a collision between unmanned vehicles in an intersection that may occur due to a failure of a wireless device provided in the unmanned vehicle. The purpose is to provide a device.
【０００９】[0009]
上記目的を達成する本考案の構成は、無線器を有し、無人車間で無線通信を行 うことによって交差点における無人車どうしの衝突を防止するよう交差点制御す る無人車の交差点制御装置において、 無人車の走行経路の一部に無人車と地上局との双方向通信可能範囲内である１ つまたは複数の特定エリアを定め、これらの各特定エリア内に各々設けられた地 上局と、前記特定エリア内であって交差点内を除く走行経路に沿って設けられた プレートと、該プレートを検知するよう無人車に設けられたセンサとを備え、該 センサが前記プレートを検知したとき、前記地上局に対して信号を発信するとと もに、この信号に対するアンサーバック信号である通過許可信号を前記地上局か ら受信することとし、この通過許可信号が受信できないときには無人車をその場 で停止させるよう制御することを特徴とする。 The configuration of the present invention that achieves the above object is an intersection control device for an unmanned vehicle, which has a wireless device, and performs wireless communication between the unmanned vehicles to prevent collision between unmanned vehicles at the intersection. One or more specific areas within the two-way communication range between the unmanned vehicle and the ground station are defined in a part of the travel route of the unmanned vehicle, and the ground stations provided in each of these specific areas, A plate provided along the traveling route in the specific area except for an intersection, and a sensor provided on the unmanned vehicle to detect the plate, and when the sensor detects the plate, When a signal is transmitted to the ground station, and at the same time a pass permission signal, which is an answerback signal for this signal, is to be received from the ground station. It is characterized by controlling so as to stop the unmanned vehicle on the spot.
【００１０】[0010]
上記構成の本考案によれば、無人車が特定エリア内に進入し、センサがプレー トを検知すると、この無人車からこの特定エリア内の地上局へ信号が発信される とともに、この信号に対するアンサーバック信号である通過許可信号が前記地上 局から前記無人車へ発信される。その際前記無人車の無線器が故障していると、 この通過許可信号を受信することができないため前記無人車はその場で停止され る。その結果無線器が故障した前記無人車が交差点内に進入することがないため 、交差点内で無人車どうしが衝突するのを防止することができる。 According to the present invention configured as described above, when an unmanned vehicle enters a specific area and a sensor detects a plate, a signal is transmitted from the unmanned vehicle to a ground station in the specific area and an answer to this signal is sent. A passage permission signal, which is a back signal, is transmitted from the ground station to the unmanned vehicle. At this time, if the wireless device of the unmanned vehicle is out of order, the unmanned vehicle is stopped on the spot because the passage permission signal cannot be received. As a result, the unmanned vehicle with a malfunctioning wireless device does not enter the intersection, so that the unmanned vehicles can be prevented from colliding with each other at the intersection.
【００１１】[0011]
以下本考案の実施例を図面に基づき詳細に説明する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
【００１２】 図１は、本考案の実施例に係る無人車の交差点制御装置を示す説明図である。 同図に示すように無人車４には、無人車ＣＰＵ４ａ、ＣＰＵを備えた無線器４ｂ 及びセンサ４ｃが備えられており、また地上局５には、制御ＢＯＸ５ａ及びＣＰ Ｕを備えた無線器５ｂが備えられている。更に路面にはプレート６が設けられて いる。FIG. 1 is an explanatory view showing an intersection control device for an unmanned vehicle according to an embodiment of the present invention. As shown in the figure, the unmanned vehicle 4 is provided with an unmanned vehicle CPU 4a, a wireless device 4b having a CPU and a sensor 4c, and the ground station 5 is provided with a control box 5a and a wireless device 5b having a CPU. Is provided. Furthermore, a plate 6 is provided on the road surface.
【００１３】 これらのうち無人車４の無線器４ｂ及び無人車ＣＰＵ４ａによる交差点制御の 内容は、従来技術と同様である。従ってここでの説明は省略する。Among these, the contents of the intersection control by the wireless device 4b of the unmanned vehicle 4 and the unmanned vehicle CPU 4a are the same as in the prior art. Therefore, the description here is omitted.
【００１４】 センサ４ｃは、磁石や鉄板等であるプレート６を検知可能な磁気センサや近接 センサであって、プレート６と相対向するよう無人車４の下端部に設けられてい る。このセンサ４ｃは、プレート６を検知すると検知信号を無人車ＣＰＵ４ａに 出力する。センサ４ｃから検知信号が出力されたとき、無人車ＣＰＵ４ａ及び無 線器４ｂは、次のように動作する。すなわちまず無人車ＣＰＵ４ａは、センサ４ ｃから出力された検知信号を入力すると、無線器４ｂのＣＰＵへ問合わせる。無 人車ＣＰＵ４ａからの問合わせがあると、無線器４ｂは、地上局５へ信号を発信 するとともに、この発信信号に対するアンサーバック信号である通過許可信号を 地上局５から受信する。更にこの通過許可信号は、無線器４ｂのＣＰＵから無人 車ＣＰＵ４ａへと出力される。しかしその際無線器４ｂが故障していて前記通過 許可信号が受信できない場合にはこの通過許可信号が無線器４ｂのＣＰＵから無 人車ＣＰＵ４ａへ出されないため、無人車ＣＰＵ４ａは、無人車４をその場で停 止させる。The sensor 4c is a magnetic sensor or a proximity sensor capable of detecting the plate 6 such as a magnet or an iron plate, and is provided at the lower end of the unmanned vehicle 4 so as to face the plate 6. When this sensor 4c detects the plate 6, it outputs a detection signal to the unmanned vehicle CPU 4a. When the detection signal is output from the sensor 4c, the unmanned vehicle CPU 4a and the wireless device 4b operate as follows. That is, first, when the unmanned vehicle CPU 4a inputs the detection signal output from the sensor 4c, it makes an inquiry to the CPU of the wireless device 4b. When there is an inquiry from the unmanned vehicle CPU 4a, the wireless device 4b transmits a signal to the ground station 5 and also receives a passage permission signal, which is an answerback signal for this transmission signal, from the ground station 5. Further, this passage permission signal is output from the CPU of the wireless device 4b to the unmanned vehicle CPU 4a. However, at that time, when the wireless device 4b is out of order and the passage permission signal cannot be received, the CPU 4a of the wireless device 4b does not output the passage permission signal to the unmanned vehicle CPU 4a. Stop on the spot.
【００１５】 地上局５の無線器５ｂは、上記のように無線器４ｂから発信された信号を受信 するとともに、無線器４ｂへ通過許可信号を発信する。制御ＢＯＸ５ａは、上記 のような無線器４ｂの送受信に係る制御を行う。このような制御ＢＯＸ５ａ及び 無線器５ｂを備えた地上局５は、無人車４の走行経路の一部に定めた１つまたは 複数の特定エリア内に１つずつ設置される。The wireless device 5b of the ground station 5 receives the signal transmitted from the wireless device 4b as described above, and also transmits a passage permission signal to the wireless device 4b. The control box 5a controls the transmission and reception of the wireless device 4b as described above. The ground stations 5 including the control box 5a and the wireless device 5b are installed one by one in one or a plurality of specific areas defined in a part of the traveling route of the unmanned vehicle 4.
【００１６】 図２は、このような特定エリアの一例を示す説明図である。同図では３つの特 定エリアＡ，Ｂ，Ｃが設定されている。これらの特定エリアＡ，Ｂ，Ｃには、互 いに近接した交差点ａ1 ，ａ2 ，ａ3 、交差点ｂ1 ，ｂ2 ，ｂ3 及び交差点ｃ1 ，ｃ2 ，ｃ3 が各々含まれており（なお本図では、交差点ａ1 ，ａ2 ，ａ3 、ｂ 1 ，ｂ2 ，ｂ3 、ｃ1 ，ｃ2 ，ｃ3 の近傍のみを示し、他の走行経路の記載を省 略している）、また各々の中央付近には地上局５が各々１つずつ設置されている 。なおこれら特定エリアＡ，Ｂ，Ｃの大きさは、もちろん各地上局５と無人車４ との双方向通信可能範囲内となるように設定されている。更に各交差点ａ1 ，ａ 2 ，ａ3 、ｂ1 ，ｂ2 ，ｂ3 、ｃ1 ，ｃ2 ，ｃ3 の手前であって、しかも各特定 エリアＡ，Ｂ，Ｃ内で且つこれら各特定エリアＡ，Ｂ，Ｃの境界近傍の走行経路 に沿ってプレート６が各々設置されている。FIG. 2 is an explanatory diagram showing an example of such a specific area. In the figure, three special areas A, B and C are set. These specific areas A, B and C are located at intersections a which are close to each other.1, A2, A3, Intersection b1, B2, B3And intersection c1 , C2, C3Are included respectively (in this figure, the intersection a1, A2, A3, B 1 , B2, B3, C1, C2, C3Only the vicinity of the above is shown and the description of other travel routes is omitted), and one ground station 5 is installed near each center. The sizes of these specific areas A, B, and C are, of course, set so as to be within the two-way communicable range between each ground station 5 and the unmanned vehicle 4. Furthermore, each intersection a1, A 2 , A3, B1, B2, B3, C1, C2, C3The plate 6 is installed in front of each of the specific areas A, B, and C and along the traveling route near the boundary between the specific areas A, B, and C.
【００１７】 従って上記実施例によれば、無人車４が、例えば図２に示すように特定エリア Ａ内の交差点ａ1 に向って（矢印Ｄの方向）走行し、この特定エリアＡ内に進入 すると、この無人車４のセンサ４ｃが交差点ａ1 の手前にあるプレート６を検知 し、検知信号を無人車ＣＰＵ４ａに出力する。無人車ＣＰＵ４ａは、この検知信 号を入力すると、無人車４が特定エリアＡ内に進入したことを認識するとともに 、無線器４ｂのＣＰＵへ問い合わせる。Therefore, according to the above-described embodiment, the unmanned vehicle 4 travels toward the intersection a 1 in the specific area A (in the direction of arrow D) as shown in FIG. 2, and enters the specific area A. Then, the sensor 4c of the unmanned vehicle 4 detects the plate 6 in front of the intersection a 1 and outputs a detection signal to the unmanned vehicle CPU 4a. When the unmanned vehicle CPU 4a inputs this detection signal, it recognizes that the unmanned vehicle 4 has entered the specific area A and makes an inquiry to the CPU of the wireless device 4b.
【００１８】 ここで無線器４ｂが正常な場合には、無線器４ｂは、地上局５へ信号を発信す るとともに、このとき地上局５から発信される通過許可信号を受信する。その結 果無線器４ｂのＣＰＵから無人車ＣＰＵ４ａへこの通過許可信号が出力され、無 人車４は、ここを通過し、更に交差点ａ1 へ近づく。かくして無人車４は、交差 点制御を行いつつ交差点ａ1 を通過する。When the wireless device 4b is normal, the wireless device 4b transmits a signal to the ground station 5 and also receives a passage permission signal transmitted from the ground station 5 at this time. As a result, the CPU of the radio device 4b outputs this passage permission signal to the unmanned vehicle CPU 4a, and the unmanned vehicle 4 passes through this and further approaches the intersection a 1 . Thus, the unmanned vehicle 4 passes through the intersection a 1 while controlling the intersection.
【００１９】 一方無線器４ｂが故障している場合には、無線器４ｂは、前記通過許可信号を 受信することができない。その結果無線器４ｂのＣＰＵから無人車ＣＰＵ４ａへ 通過許可信号が出力されないため、無人車４は、その場で停止される。かくして 無線器４ｂが故障した状態で、無人車４が交差点ａ1 内へ進入することがなく、 交差点ａ1 内でこの無人車４と他の無人車４とが衝突するの防止することができ る。On the other hand, when the wireless device 4b is out of order, the wireless device 4b cannot receive the passage permission signal. As a result, the passage permitting signal is not output from the CPU of the wireless device 4b to the unmanned vehicle CPU 4a, so that the unmanned vehicle 4 is stopped on the spot. Thus, in a state where the wireless device 4b has failed, can be unmanned vehicle 4 without entering into the intersection a 1, and the unmanned vehicle 4 in the intersection a 1 and another unmanned vehicle 4 is prevented from colliding It
【００２０】[0020]
以上実施例とともに具体的に説明したように、本考案によれば、無人車に備え た無線器の故障によって生起する虞のある交差点内での無人車どうしの衝突を防 止することができ、安全性をより向上させることができる。 According to the present invention, as described in detail with reference to the above embodiments, it is possible to prevent collisions between unmanned vehicles in an intersection that may occur due to a failure of a radio provided in the unmanned vehicle. The safety can be further improved.
【図面の簡単な説明】[Brief description of drawings]
【図１】本考案の実施例に係る無人車の交差点制御装置
を示す説明図である。FIG. 1 is an explanatory diagram showing an intersection control device for an unmanned vehicle according to an embodiment of the present invention.
【図２】特定エリアの設定例を示す説明図である。FIG. 2 is an explanatory diagram showing an example of setting a specific area.
【図３】従来技術に係る無人車の交差点制御装置を示す
説明図である。FIG. 3 is an explanatory diagram showing an intersection control device for an unmanned vehicle according to a conventional technique.
【図４】従来技術に係る無人車の交差点制御装置の交差
点制御内容を示すフローチャートである。FIG. 4 is a flowchart showing intersection control contents of an intersection control device for an unmanned vehicle according to a conventional technique.
４ 無人車 ４ａ 無人車ＣＰＵ ４ｂ 無線器 ４ｃ センサ ５ 地上局 ５ａ 制御ＢＯＸ ５ｂ 無線器 ６ プレート Ａ，Ｂ，Ｃ 特定エリア 4 Unmanned Vehicle 4a Unmanned Vehicle CPU 4b Radio 4c Sensor 5 Ground Station 5a Control Box 5b Radio 6 Plate A, B, C Specific Area
Claims (1)
うことによって交差点における無人車どうしの衝突を防
止するよう交差点制御する無人車の交差点制御装置にお
いて、 無人車の走行経路の一部に無人車と地上局との双方向通
信可能範囲内である１つまたは複数の特定エリアを定
め、これらの各特定エリア内に各々設けられた地上局
と、前記特定エリア内であって交差点内を除く走行経路
に沿って設けられたプレートと、該プレートを検知する
よう無人車に設けられたセンサとを備え、該センサが前
記プレートを検知したとき、前記地上局に対して信号を
発信するとともに、この信号に対するアンサーバック信
号である通過許可信号を前記地上局から受信することと
し、この通過許可信号が受信できないときには無人車を
その場で停止させるよう制御することを特徴とする無人
車の交差点制御装置。1. An intersection control device for an unmanned vehicle, comprising a wireless device and performing wireless communication between unmanned vehicles to prevent collision between unmanned vehicles at an intersection, wherein a part of a traveling route of the unmanned vehicle is provided. One or more specific areas within the two-way communication range between the unmanned vehicle and the ground station are defined, and the ground stations provided in each of these specific areas, and within the specific area and at the intersection. And a sensor provided on the unmanned vehicle to detect the plate. When the sensor detects the plate, a signal is transmitted to the ground station. At the same time, a pass permission signal, which is an answerback signal to this signal, shall be received from the ground station, and if this pass permission signal cannot be received, the unmanned vehicle shall be stopped on the spot. Unmanned vehicle intersection control device, characterized by so that control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4006493U JPH0713007U (en) | 1993-07-22 | 1993-07-22 | Intersection control device for unmanned vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4006493U JPH0713007U (en) | 1993-07-22 | 1993-07-22 | Intersection control device for unmanned vehicles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0713007U true JPH0713007U (en) | 1995-03-03 |
Family
ID=12570501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4006493U Pending JPH0713007U (en) | 1993-07-22 | 1993-07-22 | Intersection control device for unmanned vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0713007U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107437337A (en) * | 2016-05-27 | 2017-12-05 | 曹纁支 | Automatic guided vehicle magnitude of traffic flow control method, system and its traffic controller |
-
1993
- 1993-07-22 JP JP4006493U patent/JPH0713007U/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107437337A (en) * | 2016-05-27 | 2017-12-05 | 曹纁支 | Automatic guided vehicle magnitude of traffic flow control method, system and its traffic controller |
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