JPS5972524A - Operation control system of plural unmanned guided cars - Google Patents
Operation control system of plural unmanned guided carsInfo
- Publication number
- JPS5972524A JPS5972524A JP57184973A JP18497382A JPS5972524A JP S5972524 A JPS5972524 A JP S5972524A JP 57184973 A JP57184973 A JP 57184973A JP 18497382 A JP18497382 A JP 18497382A JP S5972524 A JPS5972524 A JP S5972524A
- Authority
- JP
- Japan
- Prior art keywords
- unmanned guided
- cars
- interference zone
- car
- reach
- 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.)
- Pending
Links
- 239000003550 marker Substances 0.000 abstract description 8
- 238000001514 detection method Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000000903 blocking effect Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Steering Controls (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】 この発明は複数無人誘導車の運行制御方式に関する。[Detailed description of the invention] The present invention relates to a system for controlling the operation of multiple unmanned guided vehicles.
同一走行路上に複数台の無人誘導車がある場合、無人誘
導車間における衝突、接触等の干渉を避けるためブロッ
キング制御を行う必要がある。このため、無人誘導車の
位置情報を中央のコンピュータに送信し、中央のコンピ
ュータは複数台の車輛の現在位置をもとに干渉が生じる
か否かを判断し。When there are multiple unmanned guided vehicles on the same road, it is necessary to perform blocking control to avoid interference such as collision or contact between the unmanned guided vehicles. For this reason, the position information of the unmanned guided vehicles is sent to a central computer, and the central computer determines whether or not interference will occur based on the current positions of the multiple vehicles.
干渉の可能比がある場合車輛を停止させる。Stop the vehicle if there is a possibility of interference.
ところで、このブロッキング制御を行う際、最も重要な
ものは、無人誘導車の現在位置情報であシ、従来は走行
路上に貼付のマーカを検知することによυ、この位置情
報を得、ＦＳＸ等の通信手段ヲ用い中央のコンピュータ
に送信していた。By the way, when performing this blocking control, the most important thing is the current position information of the unmanned guided vehicle. Conventionally, this position information was obtained by detecting markers pasted on the driving road, and FSX etc. The data was sent to a central computer using the same communication means.
すなわち、第１図に示す合流の場合管側にとると、走行
ルー） Ｐ、 Ｂ Ｋある無人誘導車ＭＢがステーショ
ンＡに、また、走行ルー）ＲＣｔにある無人誘導車Ｕａ
もまたステーションＡに向う場合、無人誘溝車ＭＢが合
流箇所ダに達し、走行ルー）ＲＢの終端にあるマーカｓ
ｂｉ検知し、他方無人誘導車ＭＯは合流箇所べに未だ達
せずマーカｓｃの手前にある場合、その旨を中央のコン
ピュータではモニタしておシ、近す将来の無人誘導車Ｍ
ｃのマーカｓｃ検知によシ適切な指令を発するよう準備
する。すな−わち、中央コンピュータは、無人誘導車Ｍ
Ｂのマーカｓｂ検知信号と若干の時間後の無人誘導車Ｍ
Ｏからのマーカａａ検知信号を受け、そのまま放置すれ
ば合流箇所べで接触等干渉の恐れありと判断し。That is, in the case of the merging shown in Fig. 1, if we look at the pipe side, an unmanned guided vehicle MB with traveling route P, BK is at station A, and an unmanned guided vehicle Ua with traveling route )RCt.
When also heading towards station A, the unmanned tugboat MB reaches the junction point d and marks the marker s at the end of the traveling route RB.
bi is detected, and if the unmanned guided vehicle MO has not yet reached the merging point and is in front of the marker sc, the central computer monitors this and detects the unmanned guided vehicle M in the near future.
Prepare to issue an appropriate command upon detection of marker sc at c. In other words, the central computer is the unmanned guided vehicle M
Marker sb detection signal of B and unmanned guided vehicle M after some time
Upon receiving the marker aa detection signal from O, it is determined that if left as is, there is a risk of interference such as contact at the merging point.
無人誘導車ＭＯに停止の指令を発する。この結果、合流
箇所にお論て一方の無人誘導車は待期し、この間他方無
人誘導車が通過するが、合流箇所を通過し終ったならば
、干渉の恐れはなくなり上記待期の無人誘導車を再び発
進させる。すなわち、無人誘導車が合流箇所を通過し終
えたことを検−知するため、走行ルートＲＡ上にも先の
マーカｓｂ、 ｓｃと同様のマーカＳａが配置される。Issues a stop command to the unmanned guided vehicle MO. As a result, one unmanned guided vehicle waits at the merging point, and during this time the other unmanned guided vehicle passes, but once it has passed the merging point, there is no longer any fear of interference with the waiting unmanned guided vehicle. start again. That is, in order to detect that the unmanned guided vehicle has completed passing through the merging point, markers Sa similar to the previous markers sb and sc are placed on the travel route RA.
このように、従来のブロッキング制御にあって特に上記
する合流の場合、イ０合流箇所には少なくとも３個のマ
ーカの配置が必要１口０合流箇所で停止を要求される。As described above, in the conventional blocking control, especially in the case of the above-mentioned merging, it is necessary to arrange at least three markers at the 0 merging point, and stopping at the 1 exit 0 merging point is required.
ハ、マーカ・検知信号に基づきブロッキング制御を行う
のであり、中央のコンピュータとの間の信号授受時間、
コンピュータの処理時間、無人誘導車の停止作動時間等
を要し、その分マーカの配置を合流箇所よシ離さねばな
らず、むだ時間が二人、等の種々難点を無していた。C. Blocking control is performed based on marker/detection signals, and the signal exchange time with the central computer is
This method requires computer processing time, time for stopping and operating the unmanned guided vehicle, etc., and the marker must be placed farther away from the merging point, leading to various problems such as wasted time for two people.
この発明は、上記に鑑み、複数台無人誘導車のブロッキ
ング制御に当フ、荷積み・荷下し用の停止ステーション
箇所に貼付のマーカ以外の、その他ブロッキング制御用
マーカは全て貼付を行わず。In view of the above, this invention performs blocking control for multiple unmanned guided vehicles, and does not affix any other blocking control markers other than the markers affixed to the loading/unloading stop stations.
無人誘導車輛からの走行距離情報で置き換えるようにし
たもので、以下、詳細を図面に基づき説明する。The information is replaced with mileage information from an unmanned guided vehicle, and the details will be explained below based on the drawings.
第２図は、第１図に示す合流の場合のブロッキング制御
に本発明を適用したものであり、合流箇所べにおける各
走行路ＲＡ、 ＲＢ、 ＲＯに対応のマーカＳａ。FIG. 2 shows the application of the present invention to blocking control in the case of merging shown in FIG. 1, and shows markers Sa corresponding to each traveling route RA, RB, and RO at the merging point.
ｓｂ、ｓｃの貼付をなくし、その代シに車輛からの距離
情報を中央のコンピュータに送信し、ブロッキング制御
を行うものである。This eliminates the need to attach sb and sc labels, and instead sends distance information from the vehicle to a central computer to perform blocking control.
いま、荷積み・荷下し用の停止ステーションＢより、無
人誘導車ＭＢが発進し、また他方の停止ステーションｃ
、Ｊ：、６無人訪溝車ＭＯが発進し、相前後して合流箇
所べに達し、どちらかの車幅を停止させないと接触等の
干渉問題を来たす場合を考える。すなわち、中央のコン
ピュータは、上記停止ステーションＢ、Ｏ及びＡより合
流点Ｘに至るまでの距離情報Ｌｂ、Ｌｃ及びＬａがそれ
ぞれ記憶されており、他方無人誘導車ＭＢからは走行距
離情報ｆｉｂｌ、 Ｊｌｌｂ２ カ時間清報ｔｌ、 ｔ
２ トともに、同じく無人誘導車ＭＯからの走行距離情
報Ｊｃｌ、 ｌｃ２が時間情報ｔｌ、 ｔ２とともに、
中央のコンピュータにＦＳＸ手段等により送信される。Now, an unmanned guided vehicle MB is starting from the loading/unloading stop station B, and is also starting from the other stopping station C.
, J: , 6 Let us consider a case where the unmanned trench-visiting vehicles MO start and reach the merging point one after the other, and if one of the vehicle widths is not stopped, an interference problem such as contact will occur. That is, the central computer stores distance information Lb, Lc, and La from the stop stations B, O, and A to the junction X, respectively, and travel distance information fibl, Jllb2 from the unmanned guided vehicle MB. Time report tl, t
In both cases, the mileage information Jcl and lc2 from the unmanned guided vehicle MO as well as the time information tl and t2,
It is transmitted to a central computer by FSX means or the like.
これらのデータを受信シテ、中央コンピュータは、各車
輛ＭＢ、ＭＣ！７５Ｅ合流点ＸＶｃ到達するまでの時間
ｔｂ、 ｔｃ ｆ演算するのであシ、
士２−ｔｔ
ｔｉ −ｔ＋
の式よシ求めることができ、同様に合流点ＸよシＬｄだ
け手前に設定の干渉ゾーン改に達するまでの時間を騒、
ｔａＯＬ も。The central computer receiving these data is sent to each vehicle MB, MC! 75E Since the time required to reach the confluence XVc is calculated by calculating tb, tc f, it can be calculated using the formula: 2-tt ti -t+ Similarly, the interference zone set before the confluence Noise the time it takes to reach the break,
taOL too.
２−ｔｒ ｔ２− 亡ｌ として求めることができる。2-tr t2- death l It can be found as
したがって、車輛ＭＢの合流点Ｘに到達する時間ｔｂが
車輛ＭＯの時間ｔｃよシも早く、ｔｂ（ｔ、ｃである場
合、車輛ＭＢはＭＯよシも早く合流点に達するのであシ
、停止指令を与えることなく、そのまま走行させ、他方
の車輛Ｍｏｌ’；ｔ、当車輛Ｍｅの干渉ゾーン改に到達
する時間ｔｃｐ（と上記車輛ＭＢ（Ｚ）合流点Ｘへの到
達時間ｔｂとを比較し、 ｔｂ≧ｔｃｄ となる、車
輛ＭＢの合流点Ｘへ達する時間よりも車輛Ｍｅの干渉ゾ
ーンメに達する時間の方が短い場合、車輛ＭＢと４ａは
干渉を生じると判断され、車輛Ｍ Ｏに減速指令を与え
、車輛ＭＯの走行速度を低下させる。また、逆に、ｔｂ
＜ｔｃｇｃ ならば、干渉の恐れはなく、車輛Ｍｅに
は伺らの指令も与えず、そのまま走行を継続させる。Therefore, if the time tb for vehicle MB to reach the merging point Let the vehicle run as it is without giving a command, and compare the other vehicle Mol';t, the time tcp for the vehicle Me to reach the interference zone break (and the time tb for the vehicle MB(Z) to reach the junction X. , tb≧tcd, and if the time for vehicle Me to reach the interference zone is shorter than the time for vehicle MB to reach merging point X, it is determined that vehicles MB and 4a will interfere, and a deceleration command is issued to vehicle M0. tb to reduce the traveling speed of the vehicle MO.
If <tcgc, there is no fear of interference, and the vehicle Me will continue to run without giving any commands from us.
このように、本発明は、走行途中において、無人誘導車
からの走行距離情＠全時間情報とともに、中央のコンピ
ュータへ送信し車輛の速度は演算し、その速度と干渉シ
ー°イの例えば合流の場合、合流点までの残り距離ある
いは合流点手前の干渉ゾーン端までの残シ距離との関係
より、干渉ゾーンにおける複数車輛の走行の様子を判断
、減速等の適切な指令を与える方式である。すなわち、
この処理操作を随時任意時点で行うことにより、車輛の
走行態様がよシ正確に把握され、ブロッキング制御のた
めの停止、減速等、走行に悪影響を及はす指示機会は減
少し系全体としての無人誘導車の運行速度は上昇しスピ
ードアップを図ることができる。In this way, the present invention transmits travel distance information @ all time information from an unmanned guided vehicle to a central computer during the journey, calculates the vehicle speed, and calculates the speed of the vehicle and interfering with it, for example, when merging. In this case, the method determines how multiple vehicles are traveling in the interference zone based on the relationship with the remaining distance to the merging point or the remaining distance to the edge of the interference zone before the merging point, and gives appropriate commands such as deceleration. That is,
By performing this processing operation at any time and at any point in time, the driving mode of the vehicle can be grasped more accurately, and opportunities for giving instructions such as stopping or decelerating for blocking control that have a negative impact on driving are reduced, and the system as a whole is improved. The operating speed of unmanned guided vehicles will increase, making it possible to speed up the operation.
なお、上記実施例では無人誘導車の速度は中央コンピュ
ータで演算により求められているが、もちろん走行距離
情報とともに速度情報を直接無人誘導車よシ送信しても
よく、また干渉ゾーン端への到達時間を求めるのに、干
渉ゾーン中心点距離情報と同じくゾーン端点までの距離
情報を予じめ記憶するようにしてもよい。In the above embodiment, the speed of the unmanned guided vehicle is calculated by the central computer, but of course the speed information may be directly transmitted to the unmanned guided vehicle along with the travel distance information. To obtain the time, information on the distance to the end point of the zone may be stored in advance in the same manner as the information on the distance to the center point of the interference zone.
以上述べたように、この発明の特長とするところは、複
数台の無人誘導車を走行させるに、従来、ブロッキング
制御の故、必要不可欠であったマーカの貼付を取除し、
代シに無人誘導車からの走行距離情報を用い、予じめ記
憶の距離情報、演算によシ求めた、あるいは直接検出の
速度情報を漬み合せて、干渉ゾーンにおける接触、衝突
等の事態を予じめ予測し、その予測データに基づき減速
指令を加える等し、ブロッキング制御を行うもので、い
わば干渉ゾーンに貼付のマーカを中央コンピュータでの
ソフト処理に置き換えたと云ってよく、マーカの貼付等
の走行路の保守・点検作業を大幅に簡易化するとともに
複数台の無人誘導車運行の全体的効率上昇に寄与すると
ころ大である。As mentioned above, the feature of this invention is that it removes the pasting of markers, which was previously indispensable due to blocking control, in order to run multiple unmanned guided vehicles.
By using the mileage information from the unmanned guided vehicle as a substitute, and combining it with previously stored distance information, calculated speed information, or directly detected speed information, we can prevent situations such as contact and collision in the interference zone. Blocking control is performed by predicting in advance and applying deceleration commands based on the predicted data.In other words, it can be said that the markers attached to the interference zone are replaced with software processing by a central computer. This greatly simplifies maintenance and inspection work for roads such as roads, etc., and greatly contributes to increasing the overall efficiency of operating multiple unmanned guided vehicles.
第１図は従来例の走行レイアウト、第２図は本発明実施
例の走行レイアウト、を示す図である。
Ａ、Ｂ、Ｑ・・荷積み・荷下し用停止ステーションａ、
ｂ、ｃ・・ステーションマー力
ＲＡ 、ＲＢ、 Ｒｅ・・走行路
ＭＢ、 ＭＯ・・・無人誘導車
Ｌａ、 Ｌ％ ＬＯ・・基準距離情報
［ｂｌ、 ｌｂ２・・無人誘導車ＭＢの走行距離情報！
ｃ１．βｃ２・・無人誘導車ＭＯの走行距離情報出願人
神鋼電機株式会社
代理人 弁理士 斎藤春弥FIG. 1 is a diagram showing a traveling layout of a conventional example, and FIG. 2 is a diagram showing a traveling layout of an embodiment of the present invention. A, B, Q...Loading/unloading stop station a,
b, c... Station mark RA, RB, Re... Travel route MB, MO... Unmanned guided vehicle La, L% LO... Reference distance information [bl, lb2... Travel distance information of unmanned guided vehicle MB !
c1. βc2...Unmanned guided vehicle MO mileage information Applicant Shinko Electric Co., Ltd. Agent Patent attorney Haruya Saito
Claims (1)
数無人誘導車の運行制御方式において、荷積み・荷下し
用停止ステーション等無人誘導車の走行の基準となる箇
所よシ合流箇所等の干渉ゾーンでその中心点までの、お
よび端点までの距離情報を予しめ記憶しておき、無人誘
導車から送信される走行距離情報と、速度情報、に基づ
き、当無人誘導車の干渉ゾーン中心点へ到達する時間あ
るいは干渉ゾーン端点に達する時間を求め、かつ他車輛
についても同様の演算を行い、これら無人誘導車間にお
ける干渉ゾーン中心点へ達する時間の比較と、この比較
結果に基づく、干渉ゾーン中心点到達時間と端点到達時
間との比較、を行い、その結果、干渉ゾーン中心点への
到達が遅い方の無人誘導車に対し減速指令の出力有無と
その程度を判別するようにしたことを特徴とする複数無
人誘導車の運行制御方式。1. In the operation control system for multiple unmanned guided vehicles that operate multiple unmanned guided vehicles on the same route, points such as loading/unloading stop stations, etc. that serve as reference points for unmanned guided vehicles, and merging points, etc. Distance information to the center point and end point of the interference zone is stored in advance, and based on the travel distance information and speed information sent from the unmanned guided vehicle, the center of the interference zone of the unmanned guided vehicle is determined. Find the time to reach the point or the end point of the interference zone, perform the same calculation for other vehicles, compare the time to reach the center point of the interference zone between these unmanned guided vehicles, and calculate the interference zone based on the result of this comparison. The time taken to reach the center point and the time taken to reach the end point are compared, and as a result, it is determined whether and to what extent a deceleration command is output to the unmanned guided vehicle that is slower to reach the center point of the interference zone. Features: Operation control system for multiple unmanned guided vehicles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57184973A JPS5972524A (en) | 1982-10-20 | 1982-10-20 | Operation control system of plural unmanned guided cars |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57184973A JPS5972524A (en) | 1982-10-20 | 1982-10-20 | Operation control system of plural unmanned guided cars |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5972524A true JPS5972524A (en) | 1984-04-24 |
Family
ID=16162581
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57184973A Pending JPS5972524A (en) | 1982-10-20 | 1982-10-20 | Operation control system of plural unmanned guided cars |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5972524A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63163608A (en) * | 1986-12-26 | 1988-07-07 | Komatsu Forklift Co Ltd | Method for indicating travel stopping position of unmanned vehicle |
| US20150233769A1 (en) * | 2014-02-19 | 2015-08-20 | Mitsubishi Electric Corporation | Thermistor fixing structure, thermistor removing method, and air-conditioning apparatus |
| WO2024063079A1 (en) * | 2022-09-23 | 2024-03-28 | 愛知製鋼株式会社 | Vehicular system |
-
1982
- 1982-10-20 JP JP57184973A patent/JPS5972524A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63163608A (en) * | 1986-12-26 | 1988-07-07 | Komatsu Forklift Co Ltd | Method for indicating travel stopping position of unmanned vehicle |
| US20150233769A1 (en) * | 2014-02-19 | 2015-08-20 | Mitsubishi Electric Corporation | Thermistor fixing structure, thermistor removing method, and air-conditioning apparatus |
| US9816867B2 (en) * | 2014-02-19 | 2017-11-14 | Mitsubishi Electric Corporation | Thermistor fixing structure, thermistor removing method, and air-conditioning apparatus |
| WO2024063079A1 (en) * | 2022-09-23 | 2024-03-28 | 愛知製鋼株式会社 | Vehicular system |
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