JPH0729686Y2 - Travel control device for self-propelled carriage - Google Patents
Travel control device for self-propelled carriageInfo
- Publication number
- JPH0729686Y2 JPH0729686Y2 JP6144593U JP6144593U JPH0729686Y2 JP H0729686 Y2 JPH0729686 Y2 JP H0729686Y2 JP 6144593 U JP6144593 U JP 6144593U JP 6144593 U JP6144593 U JP 6144593U JP H0729686 Y2 JPH0729686 Y2 JP H0729686Y2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle distance
- inter
- current position
- self
- traveling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Train Traffic Observation, Control, And Security (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Velocity Or Acceleration (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本考案は、一定経路を走行する自
走台車を、前方台車との車間距離を任意に設定した値に
維持せしめながら走行させるための走行制御装置に関す
るものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control device for traveling a self-propelled vehicle traveling on a fixed route while maintaining an inter-vehicle distance with a forward vehicle at an arbitrarily set value.
【０００２】[0002]
【従来の技術】従来、一定経路を走行する軌道式自走台
車に於ける前方台車との車間距離の制御方法として、例
えば特願昭５２−３８５４８号のマイクロフィルムに開
示されているように、一定経路上を走行する各自走台車
に現在位置検出手段と、検出した現在位置値を後方台車
に発信する発信手段、及び前方台車の前記発信手段から
発信された現在位置値を受信する受信手段を設け、受信
した前方台車の現在位置値と検出した自己の現在位置値
との差から前方台車との間の車間距離を演算して、当該
演算車間距離が設定車間距離に等しくなるように走行速
度を制御する方法が知られている。2. Description of the Related Art Conventionally, as a method of controlling an inter-vehicle distance from a front bogie in a track type self-propelled bogie traveling on a fixed route, as disclosed in Japanese Patent Application No. 52-38548, for example, Each self-propelled vehicle traveling on a fixed route is provided with a current position detecting means, a transmitting means for transmitting the detected current position value to a rear vehicle, and a receiving means for receiving the current position value transmitted from the transmitting means of the front vehicle. The distance between the front vehicle and the front vehicle is calculated from the difference between the received current position value of the front vehicle and the detected current position value of the own vehicle, and the traveling speed is set so that the calculated inter-vehicle distance becomes equal to the set inter-vehicle distance. There are known methods of controlling the.
【０００３】[0003]
【考案が解決しようとする課題】このような従来の制御
方法では、自走台車に搭載の制御手段に前もって車間距
離を設定しておく必要がある。しかしながら、自走台車
の走行経路上に複数の作業区間が設定されたレイアウト
に於いて、作業の種類と搭載するワークの長さ（台車前
後からのワーク突出長さが異なる）やワーク端部に対す
る作業の有無、或いはその日の生産計画などに応じた車
間距離（ワーク間の距離）を、各作業区間毎にリアルタ
イムに設定して自走台車を走行制御することにより、全
体としての作業効率の向上を図りたい場合がある。この
ような場合に前記のような従来の制御方法では、車間距
離を各作業区間毎に任意に設定することは、実用上無理
があり、従って上記のような方法で全体としての作業効
率の向上を図ることが出来なかった。In such a conventional control method, it is necessary to set the inter-vehicle distance in advance in the control means mounted on the self-propelled carriage. However, in the layout in which multiple work sections are set on the travel route of the self-propelled carriage, the type of work and the length of the work to be mounted (the length of work protrusion from the front and rear of the carriage is different) and the work end Improving overall work efficiency by setting the inter-vehicle distance (distance between works) according to the presence or absence of work or the production plan of the day in real time for each work section to control the traveling of the self-propelled carriage There are times when you want to plan. In such a case, in the conventional control method as described above, it is practically impossible to arbitrarily set the inter-vehicle distance for each work section. Therefore, the work efficiency as a whole is improved by the above method. I couldn't.
【０００４】[0004]
【課題を解決するための手段】本考案は上記のような従
来の問題点を解決するために成されたものであって、そ
の特徴を後述する実施例の参照符号を括弧付きで付して
示すと、本考案の自走台車の走行制御装置は、一定経路
上を走行する各自走台車(1) に、基準点(P) からの走行
距離に相当する現在位置を検出する現在位置検出手段
(7,14)、検出した現在位置値(14a) を後方台車に発信す
る発信手段(15,11) 、前方台車の前記発信手段(15,11)
から発信された現在位置値(16a) を受信する受信手段(1
0,16) 、及び受信した前方台車の現在位置値(16a) と検
出した自己の現在位置値(14a) との差から前方台車との
間の車間距離(17a) を演算して、当該演算車間距離(17
a) が設定車間距離(12a) に等しくなるように走行速度
を制御する制御手段(18,19) を設けた自走台車の走行制
御装置であって、前記自走台車(1) に外部からの設定車
間距離信号(13a) を受信する受信手段(12)を設け、台車
走行制御区間の起点またはその手前には、前記受信手段
(12)に対し設定車間距離信号(13a) を与える設定車間距
離信号発信手段(13)を設置した点に特徴を有する。The present invention has been made in order to solve the above-mentioned conventional problems, and its features are shown in parentheses with reference numerals of embodiments described later. As shown, the traveling control device for a self-propelled vehicle of the present invention is a current position detection means for detecting the current position corresponding to the traveling distance from the reference point (P) for each self-propelled vehicle (1) traveling on a fixed route.
(7,14), the transmitting means (15,11) for transmitting the detected current position value (14a) to the rear carriage, the transmitting means (15,11) for the front carriage.
The receiving means (1) that receives the current position value (16a) sent from
0,16) and the difference between the received current position value (16a) of the front bogie and the detected current position value (14a) of the front bogie, and calculates the inter-vehicle distance (17a) between the front bogie and Distance between vehicles (17
(a) is a traveling control device for a self-propelled carriage equipped with a control means (18, 19) for controlling the traveling speed so that it becomes equal to the set inter-vehicle distance (12a). The receiving means (12) for receiving the set inter-vehicle distance signal (13a) is provided, and the receiving means is provided at the starting point of the carriage traveling control section or in front of it.
It is characterized in that a set inter-vehicle distance signal transmitting means (13) for giving the set inter-vehicle distance signal (13a) to the (12) is installed.
【０００５】[0005]
【実施例】以下、本考案の一実施例を添付の例示図に基
づいて説明すると、図１に於いて、１は自走台車であっ
て、ガイドレール２とこれに係合する車輪３とによって
一定経路を走行する。４は台車走行経路にそって敷設さ
れたラックギヤ５と咬合する走行駆動ギヤであって、モ
ータ６に連動連結されている。７はラックギヤ５と連動
連結するパルスエンコーダである。８は台車走行経路に
そって敷設された給電線であって、自走台車１の集電子
９を介してモータ６に電力を供給する。走行駆動ギヤ４
とラックギヤ５とを使用する代わりに、車輪３の少なく
とも一つをモータ６で駆動するようにしても良い。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings. In FIG. 1, reference numeral 1 is a self-propelled carriage, a guide rail 2 and wheels 3 engaged with the guide rail 2. To drive a certain route. Reference numeral 4 denotes a traveling drive gear that meshes with a rack gear 5 laid along the traveling route of the truck, and is linked to a motor 6. Reference numeral 7 is a pulse encoder that is interlocked with the rack gear 5. Reference numeral 8 denotes a power supply line laid along the traveling route of the truck, which supplies electric power to the motor 6 via the collector 9 of the self-propelled truck 1. Traveling drive gear 4
Instead of using the rack gear 5 and at least one of the wheels 3, at least one of the wheels 3 may be driven by the motor 6.
【０００６】１０は自走台車１の前端に配設された光信
号受信器であり、１１は自走台車１の後端に配設された
光信号送信器である。１２は自走台車１に取り付けられ
た設定車間距離信号受信手段であって、台車走行制御区
間の起点またはその手前の一定位置、即ち基準点Ｐに、
受信手段１２に対応するように設置された設定車間距離
信号発信手段１３から図２に示すように設定車間距離信
号１３ａを受信し、２進数値化された車間距離設定値１
２ａを、次に新しい設定車間距離信号１３ａを受信する
まで継続的に出力する。Reference numeral 10 is an optical signal receiver arranged at the front end of the self-propelled carriage 1, and 11 is an optical signal transmitter arranged at the rear end of the self-propelled carriage 1. Reference numeral 12 denotes a set inter-vehicle distance signal receiving means attached to the self-propelled carriage 1, which is a starting point of the carriage traveling control section or a fixed position before the starting point, that is, a reference point P,
The set inter-vehicle distance signal 13a as shown in FIG. 2 is received from the set inter-vehicle distance signal transmitting means 13 installed corresponding to the receiving means 12, and the inter-vehicle distance set value 1 converted into a binary value is set.
2a is continuously output until the next new set inter-vehicle distance signal 13a is received.
【０００７】図２に示す現在位置カウンター１４は、自
走台車１が基準点Ｐを通過した時点からパルスエンコー
ダ７からの発信パルス７ａを計数し、現在位置値１４ａ
を出力する。この現在位置値１４ａは並列／直列変換部
１５によって直列パルス電気信号１５ａに変換され、こ
の直列パルス電気信号１５ａが送信器１１によって直列
パルス光信号１１ａの形で後方台車の受信器１０に向か
って送信される。受信器１０によって受信された直列パ
ルス光信号１１ａは直列パルス電気信号１０ａに戻さ
れ、そして直列／並列変換部１６によって前方台車の現
在位置値１６ａに変換される。The current position counter 14 shown in FIG. 2 counts the transmission pulses 7a from the pulse encoder 7 from the time when the self-propelled carriage 1 passes the reference point P, and outputs the current position value 14a.
Is output. This current position value 14a is converted into a serial pulse electric signal 15a by the parallel / serial converter 15, and this serial pulse electric signal 15a is transmitted by the transmitter 11 to the receiver 10 of the rear carriage in the form of the serial pulse optical signal 11a. Sent. The serial pulse optical signal 11a received by the receiver 10 is returned to the serial pulse electric signal 10a, and is converted by the serial / parallel converter 16 into the current position value 16a of the front carriage.
【０００８】各自走台車１に設けられた演算部１７は、
現在位置カウンター１４から出力される自己の現在位置
値１４ａと前方台車から受信した前方台車の現在位置値
１６ａとの差を演算し、前方台車との間の車間距離現在
値１７ａを出力する。比較部１８は、車間距離現在値１
７ａと設定車間距離信号受信手段１２から出力されてい
る車間距離設定値１２ａとを比較し、その差に比例する
大きさの速度補正値１８ａを出力する。The arithmetic unit 17 provided in each self-propelled carriage 1
The difference between the current position value 14a of the vehicle itself output from the current position counter 14 and the current position value 16a of the front bogie received from the front bogie is calculated, and the inter-vehicle distance current value 17a with the front bogie is output. The comparison unit 18 determines that the current inter-vehicle distance value is 1
7a is compared with the inter-vehicle distance set value 12a output from the set inter-vehicle distance signal receiving means 12, and a speed correction value 18a having a magnitude proportional to the difference is output.
【０００９】モータ６はモータコントローラ１９によっ
て適当な方法で設定された基準速度で回転するように制
御されるが、このモータコントローラ１９に速度補正値
１８ａが入力されて設定基準速度が補正され、車間距離
現在値１７ａと車間距離設定値１２ａとが等しくなって
速度補正値１８ａがゼロとなるようにモータ６の回転
数、即ち自走台車１の走行速度が自動調整される。The motor 6 is controlled by the motor controller 19 so as to rotate at a reference speed set by an appropriate method. The motor controller 19 inputs a speed correction value 18a to correct the set reference speed, thereby The rotation speed of the motor 6, that is, the traveling speed of the self-propelled carriage 1 is automatically adjusted so that the current distance value 17a becomes equal to the inter-vehicle distance set value 12a and the speed correction value 18a becomes zero.
【００１０】上記の構成によれば、同一走行経路上を走
行する各自走台車１が台車走行経路上の基準点Ｐを通過
するとき、換言すれば、台車走行制御区間に入るとき、
設定車間距離信号受信手段１２が発信手段１３からの設
定車間距離信号１３ａを受信し、次段の比較部１８へ車
間距離設定値１２ａを送る。そして自走台車１が基準点
Ｐを通過した後は、換言すれば、台車走行制御区間内を
走行している間は、図３に示すように基準点Ｐからの走
行距離ａ〜ｄに相当する現在位置値１４ａが現在位置カ
ウンター１４から出力され、この現在位置値１４ａが直
列パルス光信号１１ａを介して後方の台車にリアルタイ
ムに送信される。According to the above construction, when each self-propelled vehicle 1 traveling on the same traveling route passes the reference point P on the traveling route of the vehicle, in other words, when entering the vehicle traveling control section,
The set inter-vehicle distance signal receiving means 12 receives the set inter-vehicle distance signal 13a from the transmitting means 13, and sends the inter-vehicle distance set value 12a to the comparison section 18 in the next stage. After the self-propelled vehicle 1 has passed the reference point P, in other words, while traveling in the vehicle traveling control section, as shown in FIG. 3, it corresponds to travel distances a to d from the reference point P. The present position value 14a is output from the present position counter 14, and the present position value 14a is transmitted to the rear truck in real time via the serial pulse light signal 11a.
【００１１】従って各自走台車１は、その受信器１０及
び直列／並列変換部１６とを介して前方台車の現在位置
値１６ａを絶えず受信しており、この前方台車の現在位
置値１６ａと自己の現在位置値１４ａとが絶えず演算部
１７に於いて比較され、その差に相当する車間距離現在
値１７ａが検出されている。図３のＢ台車を例にとれ
ば、前方のＡ台車の現在位置値（基準点Ｐからの走行距
離）ａと自己の現在位置値（基準点Ｐからの走行距離）
ｂとに基づいて前方のＡ台車との間の車間距離（ａ−
ｂ）をリアルタイムに検出することになる。Therefore, each self-propelled vehicle 1 constantly receives the current position value 16a of the front vehicle via the receiver 10 and the serial / parallel conversion unit 16, and the current position value 16a of the front vehicle and its own position value 16a. The current position value 14a is constantly compared with the calculation unit 17, and the inter-vehicle distance current value 17a corresponding to the difference is detected. Taking the B carriage of FIG. 3 as an example, the current position value (travel distance from the reference point P) a of the front A carriage and the current position value of itself (travel distance from the reference point P)
Based on b and the inter-vehicle distance (a-
b) will be detected in real time.
【００１２】このように絶えず検出されている前方台車
との間の車間距離現在値１７ａは比較部１８に於いて車
間距離設定値１２ａと比較され、その両者の差に相当す
る速度補正値１８ａが出力される。モータコントローラ
１９はこの速度補正値１８ａの大きさに応じてモータ６
の回転速度を増減補正し、車間距離現在値１７ａが車間
距離設定値１２ａと等しくなるように自走台車１の走行
速度を調整する。車間距離現在値１７ａが車間距離設定
値１２ａと等しい状態では速度補正値１８ａは出力され
ず、自走台車１は設定基準速度で走行する。In this way, the current inter-vehicle distance value 17a between the front bogie, which is constantly detected, is compared with the inter-vehicle distance set value 12a in the comparison section 18, and the speed correction value 18a corresponding to the difference between the two is obtained. Is output. The motor controller 19 controls the motor 6 according to the magnitude of the speed correction value 18a.
The rotational speed of is corrected to increase or decrease, and the traveling speed of the self-propelled carriage 1 is adjusted so that the current inter-vehicle distance value 17a becomes equal to the inter-vehicle distance set value 12a. When the current inter-vehicle distance value 17a is equal to the inter-vehicle distance set value 12a, the speed correction value 18a is not output, and the self-propelled carriage 1 travels at the set reference speed.
【００１３】台車走行制御区間上を一定の車間距離を保
ちながら走行する複数台の自走台車１の内、先頭の自走
台車１（図３ではＡ台車）は前方台車の現在位置値を受
け取ることが出来ない。従って基準点Ｐまたはその手前
適当位置で、先頭になる自走台車１に先頭台車であるこ
との信号を与えたり、先頭になる自走台車１には車間距
離指令信号１３ａを与えないで車間距離設定値１２ａを
持たない台車は先頭台車であると判断させ、或いは別に
付加したセンサーにより前方台車の有無を検出させて先
頭台車であることを判断させ、先頭台車となる自走台車
１は無条件で設定基準速度で走行させるように制御しな
ければならない。Of the plurality of self-propelled carriages 1 traveling on the carriage traveling control section while keeping a constant inter-vehicle distance, the leading self-propelled carriage 1 (A-car in FIG. 3) receives the current position value of the front carriage. I can't. Therefore, at the reference point P or at an appropriate position in front of it, the inter-vehicle distance is given to the leading self-propelled carriage 1 without giving a signal indicating that it is the leading bogie or to the leading self-propelled carriage 1 without giving the inter-vehicle distance command signal 13a. The bogie having no set value 12a is judged to be the head bogie, or the presence or absence of the front bogie is detected by a separately added sensor to judge that it is the head bogie, and the self-propelled bogie 1 which is the head bogie is unconditional. It must be controlled to drive at the set reference speed.
【００１４】なお、上記実施例では、現在位置検出手段
をパルスエンコーダ７と現在位置カウンター１４とから
構成し、現在位置値発信手段を並列／直列変換部１５と
光信号送信器１１とから構成し、更に前方台車の現在位
置値受信手段を光信号受信器１０と直列／並列変換部１
６とから構成したが、これらの構成に限定されない。ま
た、本考案の制御装置は自走台車１に搭載したマイクロ
コンピュータを使用するプログラム制御により実施する
ことが出来る。In the above embodiment, the current position detecting means is composed of the pulse encoder 7 and the current position counter 14, and the current position value transmitting means is composed of the parallel / serial converter 15 and the optical signal transmitter 11. Further, the current position value receiving means of the front carriage is used as an optical signal receiver 10 and a serial / parallel converter 1.
However, the present invention is not limited to these configurations. Further, the control device of the present invention can be implemented by program control using a microcomputer mounted on the self-propelled carriage 1.
【００１５】[0015]
【考案の作用及び効果】以上のように本考案の走行制御
装置によれば、高価な光学式または超音波式の距離セン
サーやその付帯回路を使用することなく、前方台車との
間の車間距離を極めて正確に且つリアルタイムに測定検
出することが出来るのであるが、特に本考案によれば、
自走台車に外部からの車間距離指令信号を受信する受信
手段を設け、台車走行制御区間の起点またはその手前に
は、前記受信手段に対し車間距離指令信号を与える車間
距離指令信号発信手段を設置したので、台車走行制御区
間を走行する自走台車の車間距離を、当該区間に入ると
きに外部から与えられる車間距離指令により任意に設定
することが出来る。As described above, according to the traveling control device of the present invention, the inter-vehicle distance to the front bogie can be achieved without using an expensive optical or ultrasonic distance sensor or its accessory circuit. Can be measured and detected extremely accurately and in real time. Especially, according to the present invention,
The self-propelled vehicle is provided with a receiving means for receiving an inter-vehicle distance command signal from the outside, and an inter-vehicle distance command signal transmitting means for giving an inter-vehicle distance command signal to the receiving means is provided at or before the starting point of the bogie traveling control section. Therefore, the inter-vehicle distance of the self-propelled bogie traveling in the bogie traveling control section can be arbitrarily set by the inter-vehicle distance command given from the outside when entering the section.
【００１６】従って、連続した台車走行経路中に、作業
条件などが異なる複数の作業区間が設定されているよう
な場合、各作業区間を前記台車走行制御区間とすること
により、各作業区間毎に、その作業条件などに最適の車
間距離を外部から自由に設定し、或いは状況によってい
つでも自由に変更して、これを維持させるように各作業
区間内での自走台車の走行制御を行うことが出来るの
で、全体としての作業効率を容易に高めることが出来
る。Therefore, when a plurality of work sections with different working conditions are set in the continuous truck travel route, each work section is set as the truck travel control section, and each work section , It is possible to freely set the optimum inter-vehicle distance for the working conditions from the outside, or freely change it depending on the situation at any time, and to control the traveling of the self-propelled carriage in each work section so as to maintain it. Therefore, the work efficiency as a whole can be easily increased.
【図１】 自走台車の構成を示す概略平面図である。FIG. 1 is a schematic plan view showing the configuration of a self-propelled carriage.
【図２】 制御系を説明するブロック線図である。FIG. 2 is a block diagram illustrating a control system.
【図３】 基準点と同一走行経路上の各台車との関係を
説明する図である。FIG. 3 is a diagram illustrating a relationship between a reference point and each trolley on the same travel route.
１ 自走台車 ４ 走行駆動ギヤ ５ ラックギヤ ６ モータ ７ パルスエンコーダ ８ 給電線 ９ 集電子 １０ 光信号受信器 １０ａ 直列パルス電気信号 １１ 光信号送信器 １１ａ 直列パルス光信号 １２ 設定車間距離信号受信手段 １２ａ 車間距離設定値 １３ 設定車間距離信号発信手段 １３ａ 設定車間距離信号 １４ 現在位置カウンター １４ａ 現在位置値 １５ 並列／直列変換部 １５ａ 直列パルス電気信号 １６ 直列／並列変換部 １６ａ 前方台車の現在位置値 １７ 演算部 １７ａ 車間距離現在値 １８ 比較部 １８ａ 速度補正値 １９ モータコントローラ 1 Self-propelled trolley 4 Traveling drive gear 5 Rack gear 6 Motor 7 Pulse encoder 8 Feed line 9 Current collector 10 Optical signal receiver 10a Serial pulse electric signal 11 Optical signal transmitter 11a Serial pulse optical signal 12 Set inter-vehicle distance signal receiving means 12a Inter-vehicle distance Distance setting value 13 Set inter-vehicle distance signal transmitting means 13a Set inter-vehicle distance signal 14 Current position counter 14a Current position value 15 Parallel / series conversion unit 15a Serial pulse electric signal 16 Series / Parallel conversion unit 16a Current position value of front bogie 17 Calculation unit 17a Inter-vehicle distance current value 18 Comparison unit 18a Speed correction value 19 Motor controller
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.6 識別記号 庁内整理番号 ＦＩ 技術表示箇所 Ｇ０５Ｄ 1/02 Ｊ 7740−3Ｈ Ｐ 7740−3Ｈ 13/62 Ｇ 7740−3Ｈ // Ｂ６０Ｒ 21/00 Ｃ 9434−3Ｄ Ｂ６１Ｂ 13/00 Ｖ 7706−5Ｈ Ｂ６１Ｌ 23/14 7740−3Ｈ Ｇ０５Ｄ 1/02 Ｐ 7740−3Ｈ Ｊ ─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. 6 Identification code Internal reference number FI Technical display location G05D 1/02 J 7740-3H P 7740-3H 13/62 G 7740-3H // B60R 21/00 C 9434-3D B61B 13/00 V 7706-5H B61L 23/14 7740-3H G05D 1/02 P 7740-3H J
Claims (1)
基準点(P) からの走行距離に相当する現在位置を検出す
る現在位置検出手段(7,14)、検出した現在位置値(14a)
を後方台車に発信する発信手段(15,11) 、前方台車の前
記発信手段(15,11) から発信された現在位置値(16a) を
受信する受信手段(10,16) 、及び受信した前方台車の現
在位置値(16a) と検出した自己の現在位置値(14a) との
差から前方台車との間の車間距離(17a) を演算して、当
該演算車間距離(17a) が設定車間距離(12a) に等しくな
るように走行速度を制御する制御手段(18,19) を設けた
自走台車の走行制御装置であって、 前記自走台車(1) に外部からの設定車間距離信号(13a)
を受信する受信手段(12)を設け、台車走行制御区間の起
点またはその手前には、前記受信手段(12)に対し設定車
間距離信号(13a) を与える設定車間距離信号発信手段(1
3)を設置して成る自走台車の走行制御装置。1. A self-propelled carriage (1) traveling on a fixed route,
Current position detection means (7,14) to detect the current position corresponding to the distance traveled from the reference point (P), detected current position value (14a)
To the rear trolley, the receiving means (10, 16) for receiving the current position value (16a) transmitted from the above-mentioned transmission means (15, 11) of the front trolley, and the received front The inter-vehicle distance (17a) to the front bogie is calculated from the difference between the current position value of the bogie (16a) and the detected current position value (14a), and the calculated inter-vehicle distance (17a) is the set inter-vehicle distance. A traveling control device for a self-propelled carriage provided with a control means (18, 19) for controlling the traveling speed so as to be equal to (12a), wherein the set inter-vehicle distance signal ( 13a)
A receiving means (12) for receiving the set vehicle distance signal transmission means (1a) for providing the set vehicle distance signal (13a) to the receiving means (12) is provided at or before the starting point of the carriage traveling control section.
3) A travel control device for a self-propelled carriage that is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6144593U JPH0729686Y2 (en) | 1993-10-20 | 1993-10-20 | Travel control device for self-propelled carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6144593U JPH0729686Y2 (en) | 1993-10-20 | 1993-10-20 | Travel control device for self-propelled carriage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0657004U JPH0657004U (en) | 1994-08-05 |
| JPH0729686Y2 true JPH0729686Y2 (en) | 1995-07-05 |
Family
ID=13171277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6144593U Expired - Lifetime JPH0729686Y2 (en) | 1993-10-20 | 1993-10-20 | Travel control device for self-propelled carriage |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0729686Y2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6457857B2 (en) * | 2015-03-27 | 2019-01-23 | 東日本旅客鉄道株式会社 | Rail changer |
-
1993
- 1993-10-20 JP JP6144593U patent/JPH0729686Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0657004U (en) | 1994-08-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5170351A (en) | Automatic guided vehicle and method for controlling travel thereof | |
| JP3632533B2 (en) | Automatic traveling control method and automatic traveling control apparatus for vehicle | |
| CN203490506U (en) | Vehicle-mounted laser automatic guiding control system | |
| JPH0729686Y2 (en) | Travel control device for self-propelled carriage | |
| JP3359121B2 (en) | Automatic cruise control system for motor vehicles for tunnels | |
| JPH0729685Y2 (en) | Travel control device for self-propelled carriage | |
| JPS62140116A (en) | Detecting device for distance between self-traveling trucks | |
| JPH0729687Y2 (en) | Travel control device for self-propelled carriage | |
| JPH07117852B2 (en) | Method for detecting the position of an unmanned vehicle | |
| JP2727370B2 (en) | Travel control method for self-propelled bogie | |
| JP3006485B2 (en) | Travel control method for tracked bogies | |
| JPS62140115A (en) | Method for controlling distance between self-traveling trucks | |
| JP3609200B2 (en) | Travel control method and travel control device for autonomous vehicle | |
| JP4088765B2 (en) | Obstacle detection device for self-propelled transport vehicles | |
| JPS58107909A (en) | Inducing system for unattended car | |
| JPH0638684B2 (en) | Travel control device for transportation trains | |
| JPH0648305U (en) | Self-propelled vehicle speed control device | |
| CN118092448A (en) | Control method for double-wheel synchronous driving based on ultrasonic ranging | |
| JPS62140117A (en) | Drive control method for self-traveling truck | |
| JPH09167014A (en) | Method and device for correcting direction of traveling car | |
| JPS62141903A (en) | Controlling method for speed of self-propelled truck | |
| JPH09269823A (en) | Vehicle allocation device for carrier by means of vehicle | |
| JPS61118814A (en) | Optical guiding truck control equipment | |
| JPS63113612A (en) | Unmanned carrier vehicle device | |
| JPS60256811A (en) | Control equipment for optical guide type traveling truck |