JPH072465B2 - Travel control device for self-propelled vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention uses a signal line provided along a track installed at a predetermined height above the ground to provide a signal from a ground-side device to a self-propelled vehicle traveling on the track. The present invention relates to a travel control device for a self-propelled vehicle, which transmits travel information to control the travel of the self-propelled vehicle.

[Conventional technology]

In the self-propelled vehicle of this type of self-propelled vehicle traveling control device, it is desired to enable various traveling control of the self-propelled vehicle (hereinafter referred to as vehicle) by a signal line having a small number of lines.

By the way, a conventional vehicle travel control device is, for example,
As shown in No. 56-21627, the speed command signal for commanding the traveling speed of the vehicle is encoded and transmitted to the vehicle side by wireless control to control the traveling of the vehicle. Separately from this, 3 to 4 signal lines corresponding to the traveling speed commanded are provided along the track along which the vehicle travels, and the speed command signal is sent from the ground side device to the vehicle via these signal lines. Is transmitted to control the traveling of the vehicle.

[Problems to be Solved by the Invention]

In the former one of the conventional vehicle travel control devices described above, it is necessary to encode the speed command signal, and the circuit of the transmission unit that outputs the speed command signal becomes complicated and the vehicle travel control device. Is expensive, and there is a risk that external noise may affect the code of the speed command signal, resulting in incorrect travel control. Also, for the latter,
Since it is necessary to provide four signal lines along the track, there are problems such as an increase in cost in terms of material cost of the signal lines and installation man-hours.

In view of such problems, an object of the present invention is to provide a traveling control device for a self-propelled vehicle that can simply control the traveling speed of the vehicle with only two signal lines and can prevent a vehicle collision.

[Means for Solving the Problems]

The traveling control device of the self-propelled vehicle of the present invention is a ground-side device (GN
D), signal lines (1a) and (1b), and a vehicle side device (VEH), which is a traveling control device for a self-propelled vehicle, wherein the signal lines (1a) and (1b) are The signal line (1a) is divided into multiple sections along the running track, and the ground-side device (GND) has a speed command signal (A) with different speed command signals. , Or a stop command signal for prohibiting the entry of the self-propelled vehicle into the seated section of the self-propelled vehicle is output between the signal lines (1a) and (1b), and the section presence signal detection unit (E) outputs the section presence signal. The vehicle side device (VEH) is mounted on the self-propelled vehicle to control the traveling of the self-propelled vehicle and the speed signal detection unit (J) detects the signal line ( 1a), (1b) detects a speed command signal or a stop command signal, and the seating signal output circuit (G) outputs a vehicle section seating signal between the signal lines (1a), (1b) And wherein the Rukoto.

[Action]

One of the signal lines (1a) and (1b) arranged along the track is divided into a plurality of sections. When a speed command signal is output from the speed voltage command section (A) of the ground side device (GND) between the signal lines (1a) and (1b), the speed signal detection section (J) of the vehicle side device outputs the speed command signal. The self-propelled vehicle travels at a speed corresponding to the detected speed command signal.

From the presence signal output circuit (G) of the vehicle side device (VEH),
When the vehicle section presence signal is output between the signal lines (1a) and (1b), the section presence signal detection section (E) of the ground side device (GND)
Detects the section presence signal, determines the presence section of the self-propelled vehicle, and sends a stop command signal that prohibits entry of the self-propelled vehicle into the presence section of the self-propelled vehicle through signal lines (1a), (1b ) Output between
The self-propelled vehicle stops running and the self-propelled vehicle does not enter the seated section of the self-propelled vehicle.

Accordingly, the traveling speed of the self-propelled vehicle can be controlled by the ground-side device. Further, it is possible to prevent a collision between the self-propelled vehicles.

〔Example〕

Hereinafter, the present invention will be described in detail with reference to the drawings showing an embodiment thereof. This type of vehicle travel control device is used, for example, for the purpose of automatically transporting in-plant conveyed articles such as assembled parts to a desired manufacturing process in a factory. Therefore, on the ground, that is, on the floor of the factory, a track is built to drive the vehicle to a high place with a predetermined height, along this track a signal line is provided on the side of the track, and the signal from the ground side, It is configured to be applied to a vehicle traveling on a track via the signal line and to control traveling of the vehicle based on the signal.

FIG. 1 is a schematic diagram showing the configuration of a traveling control device for a vehicle according to the present invention. Two signal lines 1a and 1b are arranged side by side along the track (not shown) installed at a position higher than the ground, for example, vertically. The signal lines 1a, 1b are divided into, for example, four sections having appropriate lengths along the length direction of the track, and first to fourth four sections W1, W2, W3, W4 are formed. The ground-side device GND, which is installed on the ground for transmitting a signal for controlling the traveling of the vehicle, has a transmitter 2 that has a control power supply (not shown), and a traveling sequence input / output unit 3 that is connected to the transmitter 2. Is provided. One signal line connection terminal 2a of the transmitter 2 is the signal line 1a of each section W1, W2, W3, W4.
The other signal line connection terminal 2b is connected to the signal line 1b, and the signal line 1b is connected in series with the signal lines in the sections W1, W2, W3, and W4. On the other hand, the vehicle-side device VEH mounted on the vehicle traveling on the track has a receiving unit 4 having a control power source (not shown) built therein, and a running power source and a traveling power source (not shown) connected to the receiving unit 4. A traveling drive unit 5 having a motor is provided. The collector connection terminals 4a, 4b of the receiver 4 are connected to the collectors 6a, 6b which slide the two signal lines 1a, 1b separately.

FIG. 2 is a block diagram showing a traveling control device for a self-propelled vehicle according to the present invention.

The transmission unit 2 connected to the traveling sequence input / output unit 3 provided in the ground-side device GND uses a speed command signal for instructing the traveling speed of the vehicle as a DC voltage of a different voltage level corresponding to the command speed. Output speed voltage command section A
A speed command power source fuse cutoff signal section B for detecting that the speed command signal circuit is in an open state, a section presence output section C for outputting an output signal when the presence of a vehicle described later is detected, and a lamp A section vacant seat output section D which includes a test section T and outputs an output signal when a vehicle seat is not detected, a section occupancy signal detection section E which detects a vehicle seat, and a control for applying a voltage to each of these sections. It is composed of a power supply unit F. The section presence output unit C, the section empty seat output unit D, and the section presence signal detection unit E constitute a presence signal output unit X. The output signal of the traveling sequence input / output unit 3 is input to the speed voltage command unit A, and the output signal of the speed voltage command unit A is the signal lines 1a and 1b and the speed command power source fuse cut signal unit B.
The output signal of the speed command power source fuse blown signal section B is input to the traveling sequence input / output section 3. The section presence signal, which will be described later, given from the signal lines 1a and 1b is input to the section presence signal detection unit E. The output signal of the section presence signal detection unit E is input to the section presence output unit C and the section empty seat output unit D. Output signals from the section seating output section C and the section vacant seat output section D are input to the traveling sequence input / output section 3. The voltage of the control power supply unit F is applied to each of these units. A signal from the driving sequence input / output unit 3 is given to the lamp test unit T provided in the section vacant seat output unit D.

On the other hand, the receiving unit 4 connected to the traveling drive unit 5 provided in the vehicle-side device VEH mounted on the vehicle allows the current to flow between the signal lines in the section where the vehicle is present. An occupancy signal output circuit unit G that outputs a signal, an abnormality signal detection unit H that detects an abnormality in the control signal, and an abnormality signal output unit I that outputs a signal corresponding to the abnormality in the control signal to the traveling drive unit 5, A speed signal detection unit J that detects a speed command signal given from the ground side, a speed signal output unit K that outputs a signal corresponding to the detected speed command signal to the travel drive unit 5, and a travel that detects the travel command signal. The signal detection unit L, a traveling signal output unit M that outputs a signal related to the detected traveling command signal to the traveling drive unit 5, and a control power supply unit N that applies a voltage to each of these units.

The speed command signal given from the signal lines 1a and 1b is input to the abnormal signal detection unit H, the speed signal detection unit J, and the traveling signal detection unit L. The presence signal output from the presence signal output circuit section G is given to the signal lines 1a and 1b. The output signal of the abnormal signal detection unit H is input to the abnormal signal output unit I,
The output signal of the abnormality signal output unit I is input to the traveling drive unit 5. The respective output signals of the speed signal detection unit J and the traveling signal detection unit L are the speed signal output unit K and the traveling signal output unit M.
And the output signals of the speed signal output unit K and the travel signal output unit M are input to the travel drive unit 5. The voltage of the control power supply unit N is applied to each of these units.

FIG. 3 is a circuit diagram of the transmission unit 2 provided in the ground-side device GND corresponding to the first section W1 (see FIG. 1) of the signal lines 1a and 1b. The terminals S22, S26, S30, S20 of the speed voltage command section A are connected to the traveling sequence input / output section 3. The terminal S20 is adapted to be supplied with the DC voltage of 24 V of the control power supply unit F, and the terminal S20 is connected to the positive terminal of the control power supply unit F. A relay coil for the high-speed command relay for the first section in which a diode D23 is connected in parallel between terminals S22 and S20
H1 is the relay coil M1 of the medium speed command relay for the first section in which the diode D15 is connected in parallel between the terminals S26 and S20.
A relay coil L1 of the low-speed command relay for the first section, in which a diode D7 is connected in parallel, is connected between the terminals S30 and S20. The terminals V3, V2, V1 are the positive terminals of the control power supply unit F,
Terminal V0 is connected to the negative terminal of its power supply, for example 48V between terminal V0 and terminal V3, 24V between V2 and V2.
Each DC voltage of 12V is given between and. Terminal V3
Is a fuse F3, a diode D24 whose anode is the fuse F3 side, a normally open contact H1a of the high speed command relay for the first section, and a resistor
The first section W1 via the series circuit of R9 and the signal line connection terminal 2a
Is connected to the signal line 1a. The terminal V2 is connected to the signal line 1a of the first section W1 through the fuse F2, the diode D16 having the anode on the fuse F2 side, the series circuit of the normally open contact M1a of the first section medium speed command relay, and the signal line connection terminal 2a. , Terminal V1 is a fuse F1 and diode with anode F1 side
D8, the signal line 1a of the first section W1 via the series circuit of the normally open contact L1a of the low speed command relay for the first section and the signal line connection terminal 2a
It is connected to the. The terminal V0 is connected to the other signal line 1b in the first section W1 via the signal line connection terminal 2b. The section presence detector E includes a relay coil P1, a resistor R104 and a transistor TR10 of the first section presence relay between the terminals V3 and V0.
A series circuit of 2 is interposed, and the emitter of the transistor TR102 is connected as the terminal V0 side. A diode D102 is connected in parallel to the relay coil P1 of the first section seated relay with the cathode being at the terminal V3 side, and the relay coil P1 of the first section seated relay and the resistor R104, which is a voltage dividing resistor for stepping down 24V.
In the series circuit of and, a series circuit of the light emitting diode LED1 and the resistor R2 whose anode is on the terminal V3 side is connected in parallel.
The light emitting diode LED1 is turned on when the relay coil P1 of the first section seated relay is excited.
Further, between the terminals V3 and V0, a series circuit of a transistor TR101, a resistor R102 and a resistor R101 is interposed, and the emitter of the transistor TR101 is connected as the terminal V3 side,
The connection point between the resistors R102 and R101 is connected to the base of the transistor TR102 via a Zener diode ZD101 having a cathode connected to the connection point. The Zener diode ZD101 is for improving the threshold value (for noise).

Between the terminal V3 and the base of the transistor TR101, a resistor R
A circuit in which a resistor R105 is connected in series is connected to a parallel circuit of 106 and a capacitor C101. The capacitor C101 is for off-delay, and on the vehicle side, current collectors 6a, 6b and signal line 2a,
Even if the circuit is interrupted due to poor contact with 2b, the interruption time is 50 ms.
About ec is designed to hold the voltage up to that point.
The connection point between the resistors R106 and R105 is the resistor R103 and this resistor R103.
It is connected to one signal line 1a of the first section W1 via a series circuit of a diode D101 having an anode connected to and a signal line connection terminal 2a. The terminal S4 of the section presence output unit C is connected to the positive electrode of the control power supply unit F, and the terminal S8 is connected to the traveling sequence input / output unit 3. The terminal S9 is connected to a lamp circuit (not shown). A normally open contact P1a, which is closed by excitation of the relay coil P1 of the first section seated relay, is interposed between the terminals S4 and S8. Between the terminals S4 and S9, the anode of the terminal S4 is connected to the anode. A diode D103 connecting the
By closing the normally open contact P1a that is closed by exciting the relay coil P1 of the section seating relay, an output signal for detecting seating is output and given to the traveling sequence input / output unit 3. Terminal S10 of section empty seat output section D is control power supply section F
, And the terminal S11 is connected to the traveling sequence input / output unit 3. A normally closed contact P1b that is opened by exciting the relay coil P1 of the first section seated relay is interposed between the terminals S10 and S11, and an output signal that detects an empty seat by closing the normally closed contact P1b is output. The data is output and given to the running sequence input / output unit 3. That is, normally open contact P1a, normally closed contact
When P1b detects a seating signal, it opens and closes in opposite directions.
The terminal S21 of the speed command power supply fuse cutoff signal section B is connected to the positive electrode of the control power supply section F, the terminal S18 is connected to the traveling sequence input / output section 3, and the terminal S19 is connected to the negative electrode of the control power supply section F. A series circuit of a light emitting diode LED5 and a resistor R1 is connected between terminals S21 and S18, and fuses F1, F2, provided in the speed voltage command section A, between terminals S18 and S19.
A parallel circuit of contacts F1a, F2a, F3a, which are closed due to disconnection of F3, is interposed.

The transmitter 2 configured in this way is similarly provided for each of the other sections W2, W3, W4 of the signal lines 1a, 1b, and an actual circuit collectively showing the transmitters corresponding to the sections. Is as shown in FIG.

FIG. 5 is a circuit diagram of the receiving unit 4 provided in the vehicle side device VEH. The seated signal output circuit unit G includes current collector connection terminals 4a, 4b (first terminals) to which the signal lines 1a, 1b are connected via current collectors 6a, 6b.
(See the figure) between the series circuit of diode D1 and resistor R6,
The anode side of the diode D1 is connected as the collector connection terminal 4a side, and a capacitor CC is connected in parallel to this series circuit.

The speed signal detector J includes a diode D2 and a diode whose anode is on the connection terminal 4a side between the collector connection terminals 4a and 4b.
Zener diode ZD1 and resistor R connected in anti-series with D2
A series circuit of 7 and a capacitor C1 is connected, and a resistor R21 is connected in parallel to the capacitor C1. On the other hand, a resistance is provided between the positive electrode terminal E24 of the control power supply unit N (see FIG. 2) having a DC voltage of 24 V and the current collecting connection terminal 4b connecting the negative electrode terminal to the current collecting connection terminal 4b. A series circuit of R27, resistor R17, and transistor TR2 is connected with the emitter of the transistor TR2 as the collector connection terminal 4b side, and the series circuit has the transistor TR7 whose emitter is the positive terminal E24 side and the relay coil of the high-speed drive relay. The series circuit with RH is connected in parallel. The relay coil RH of the high-speed drive relay is connected in parallel with a series circuit of a diode D7 whose anode is the collector connection terminal 4b side and a light-emitting diode LED2 whose anode is the collector side of the transistor TR7 and a resistor R2. A Zener diode ZD6 is provided between the base of the transistor TR7 and the connection point of the resistors R27 and R17 with the cathode serving as the base side, and these constitute a high speed drive circuit HS.

In addition, between the collector connection terminals 4a, 4b, a diode D3 whose anode is on the collector connection terminal 4a side, a Zener diode ZD2 connected in anti-series with the diode D3, a resistor R8 and a capacitor C2 are connected in series. A resistor R22 is connected in parallel with the capacitor C2. A resistor R29, a resistor R18, and a series circuit of a transistor TR3 are connected between the positive electrode terminal E24 and the collector connection terminal 4b, and the emitter of the transistor TR3 is connected as the collector connection terminal 4b side. A series circuit of a transistor TR8 whose emitter is the positive terminal E24 side and a relay coil RM of a medium speed drive relay is connected in parallel. The relay coil RM of the medium-speed drive relay is connected in parallel with a series circuit of a diode D8 whose anode is the collector connection terminal 4b side and a light-emitting diode LED3 whose anode is the collector side of the transistor TR8 and a resistor R3. A Zener diode ZD7 is interposed between the base of the transistor TR8 and the connection point of the resistors R29 and R18, with the cathode serving as the base side, and these form a medium-speed drive circuit MS. Furthermore, collector connection terminals 4a, 4
Diode D with the anode between b and the collector connection terminal 4a side
4, Zener diode Z in anti-series with diode D4
A series circuit of D3, a resistor R9 and a capacitor C3 is connected, and a resistor R23 is connected in parallel to the capacitor C3. A resistor R3 is provided between the positive electrode terminal E24 and the collector connection terminal 4b.
1. A series circuit of a resistor R19 and a transistor TR4 is connected with the emitter of the transistor TR4 as the collector connection terminal 4b side, and the emitter is connected to the positive terminal E24 of the series circuit.
The series circuit of the transistor TR9 and the relay coil RL of the low speed drive relay is connected in parallel. The anode is connected to the relay coil RL of the low-speed drive relay.
The diode D9 and the anode that are on the side are the transistor TR9.
A series circuit of a light emitting diode LED4 and a resistor R4 on the collector side of is connected in parallel. And transistor TR9
A Zener diode ZD8 with the cathode as the base side is interposed between the base of the above and the connection point of the resistors R31 and R19, and these form a low speed drive circuit LS. These high, medium and low speed drive circuits HS, MS, LS
In between the collector of the transistor TR7 of the high speed drive circuit HS and the collector of the transistor TR3 of the medium speed drive circuit MS, an interlocking diode D26 whose anode is on the collector side of the transistor TR7 is connected to the collector of the transistor TR7 and the low speed. An interlock diode D27 having an anode on the collector side of the transistor TR7 is interposed between the drive circuit LS and the collector of the transistor TR4. Also, the transistor TR of the medium speed drive circuit MS
An interlock diode D28 having an anode on the collector side of the transistor TR8 is interposed between the collector of 8 and the collector of the transistor TR4 of the low-speed drive circuit LS. This interlock diode D26,
By connecting D27 and D28, the high, medium and low speed drive circuits HS, MS and LS operate selectively.

The terminals H, M, and L of the speed signal output unit K are connected to a motor drive circuit (not shown) that drives a motor that drives the vehicle in the drive unit 5. The terminal C2 is connected to the negative electrode of the control power supply unit N. A normally open contact RHa of the high speed drive relay RH is provided between the terminal H and the terminal CT2, a normally open contact RMa of the medium speed drive relay RM is provided between the terminal M and the terminal CT2, and a normally open contact RMa of the terminal L and the terminal CT2 is provided. A normally open contact RLa of the low speed drive relay RL is interposed between them.

The capacitors C1, C2, and C3 are for off-delay, and have a function of continuing the operation state until then even when the speed command signal is momentarily interrupted, and continuing the operation even when the speed command signal is switched. .

The receiving unit 4 of the vehicle side device VEH has a traveling signal detection unit L, an abnormal signal detection unit H, a speed signal output unit K, a traveling signal output unit M, and an abnormal signal output unit, which surround each of them with a dashed line. Each I circuit is configured.

In this way, the transmitter 2 shown in FIG. 3 provided in the ground side device GND and the receiver 4 shown in FIG. 5 provided in the vehicle side device VEH are connected via the signal lines 1a and 1b in the section W1. Connected.

FIG. 6 is a schematic circuit diagram showing the connection state of the signal lines 1a and 1b of each section W1, W2, W3, and W4, the speed voltage command section A, and the section vacant seat output section D. A circuit for preventing the vehicle from entering is shown. For convenience, only the part related to the high-speed command relay is shown. First to fourth sections W1 to W4 are formed in the signal lines 1a and 1b. Ground device GND
The terminal V3 of the transmitting section 2 (see FIGS. 3 and 4) of the fuse F3, the diode D24,
It is connected to one signal line 1a of the first section W1 via a normally open contact H1a of the first section high speed command relay and a resistor R9.
Similarly, the fuse F3, the diode D22, the normally open contact H2a of the high speed command relay for the second section and the resistor R8
To the signal line 1a of the section W2, further to the signal line 1a of the third section W3 via the fuse F3, the diode D20, the normally open contact H3a of the third section high speed command relay and the resistor R7, and further to the fuse F3. , Diode D18, signal line 1a of the fourth section W4 through the normally open contact H4a of the high speed command relay for the fourth section and the resistor R6
Connected to each. The other signal line 1b connects the sections W1, W2, W3, W4 with a jumper line JP, and the receiving unit 2
Connected to terminal V0 of. Further, the terminal S20 is connected to the terminal S22 via a parallel circuit (see FIG. 4) of the relay coil H1 and the diode D23 of the first section high speed command relay. Further, the terminal S20 is connected to the terminal S23 via a parallel circuit of the relay coil H2 and the diode D21 of the second section high speed command relay which operates similarly to the first section high speed command relay, and the terminal S20 is the third terminal. It is connected to the terminal S24 via a parallel circuit of a relay coil H3 and a diode D19 of the high-speed command relay for section. Furthermore, the terminal S20 is connected to the terminal S25 via a parallel circuit of the relay coil H4 and the diode D17 of the fourth section high speed command relay.

Terminal S22 is via the normally closed contact P2b that opens when the relay coil P2 of the second section seated relay (see Fig. 4) is excited, and terminal S23 is the relay coil P3 of the third section seated relay.
The terminal S24 is connected to the terminal V0 via the normally closed contact P4b which is opened by the excitation of the relay coil P4 of the fourth section seated relay through the normally closed contact P3b which is opened by the excitation.
The normally-closed contact P1b, which is opened by exciting the relay coil P1 of the first section seated relay, is provided as one terminal of the relay coil of the front section seated relay (not shown) provided for the front section of the first section W1. Between the terminal V0 and the other normally closed contact P2b,
It is installed like P3b and P4b. Also, terminal S25 and terminal V0
A normally-closed contact, which is opened for the rear section of the fourth section W4 and which is opened by exciting a relay coil of a rear section seated relay (not shown), is also provided between and. Each of these normally closed contacts P1b, P2
The section vacant seat output section D is constituted by b, P3b, and P4b.

Next, the traveling control operation of the vehicle by the traveling control device for a self-propelled vehicle according to the present invention will be described for the first section with reference to FIGS. 3, 4, 5, and 6. First, the speed control of the vehicle will be described. In the traveling control device for this self-propelled vehicle, as described above, the signal line connection terminals 2a, 2b of the transmitter 2 of the ground side device GND are connected to the signal lines 1a, 1b in the first section. When the vehicle is seated in the first section W1, for example, the collector connection terminals 4a, 4b of the receiver 4 of the vehicle side device VEH are connected to the collector 6
It is connected to the signal lines 1a and 1b of the first section W1 via a and 6b.

Now, when the terminal S30 (see FIG. 3) of the transmission unit 2 of the ground side device GND is grounded by the traveling sequence input / output unit 3 in order to drive the vehicle at a low speed, the relay coil L1 of the low speed command relay for the first section is excited. Then, the normally closed contact L1a of the low speed command relay for the first section is closed, and a DC voltage of 12V between the terminals V1 and V0 is applied between the signal lines 1a and 1b as a speed command signal.
Then, the voltage is applied to the vehicle side device VEH via the signal lines 1a and 1b.
The zener diode ZD3 which is given between the current collector connection terminals 4a and 4b of the receiving part 4 and has a zener voltage lower than 12V in the speed signal detecting part J conducts, and the diode D4 → zener diode ZD3 → resistor R9 → capacitor C3
A current flows through the capacitor C3, the capacitor C3 is charged, its terminal voltage rises, and the transistor TR4 becomes conductive. Transistor TR4
The conduction of the transistor TR9 causes the current to flow in the relay coil RL of the low-speed drive relay to be excited and the low-speed drive circuit LS operates. Therefore, the normally-open contact RLa of the low-speed drive relay provided in the speed signal output section K is closed to give a speed command signal to the motor drive circuit, and the motor drive circuit supplies a drive voltage corresponding to the speed command signal to the traveling motor. The traveling motor (not shown) rotates at a low speed and the vehicle travels at a low speed.

Here, when the vehicle is traveling at medium speed, the terminal S30 (see FIG. 3) is ungrounded by the traveling sequence input / output unit 3, and then the terminal S26 is grounded. Then, the relay coil M1 of the medium speed command relay for the first section is excited, its normally open contact M1a is closed, and the terminals V2 and V0 are placed between the signal lines 1a and 1b.
A 24V DC voltage between them is given as a speed command signal.
As a result, the Zener diode ZD2 having a Zener voltage lower than the voltage of 24V is brought into conduction in the speed signal detecting unit of the receiving unit 4 provided in the vehicle side device VEH, and the low speed drive circuit L
The medium speed drive circuit MS operates in the same manner as S. At this time, the Zener diode ZD3 also conducts, but the middle-speed drive circuit MS operates and the base voltage of the transistor TR9 is increased via the interlocking diode D28 to increase the transistor TR9.
Becomes non-conductive, and the operation of the low-speed drive circuit LS is prohibited.
Therefore, the speed signal output unit K is operated by the operation of the medium speed drive circuit MS.
The normally open contact RMa of the medium-speed drive relay is closed, and the drive motor is supplied with a drive voltage corresponding to the speed command signal as in the case of low-speed traveling, and the vehicle rotates at medium speed. It will run at high speed. When traveling at a high speed, the traveling sequence input / output unit 3 causes the terminal S22 (the third
By energizing the relay coil H1 of the high-speed command relay for the first section with only (see the drawing) grounded, the high-speed drive rotation HS of the receiver 4 operates in the same manner as described above, and the vehicle runs at high speed.

That is, the traveling speed of the vehicle can be controlled by applying speed command signals having different voltage levels between the two signal lines 1a and 1b.

By the way, for example, when the vehicle is seated in the first section W1, the seating signal output circuit G (see FIG. 5) of the receiver 4 provided in the vehicle side device VEH between the signal lines 1a and 1b. The series circuit of the diode D1 and the resistor R6 (see the reference) is interposed. Therefore, from the terminal V3 of the section presence signal detection section E of the transmitter 2 of the ground side device GND, the emitter of the transistor TR101 → the base of the transistor TR101 → the resistance R105 → the resistance R103 → the diode D101 → the signal line 1a → the presence signal output circuit Part D diode D1 → resistor R6 → signal line 1b → section presence signal detection unit E terminal
The current to V0 flows. That is, the vehicle side device VEH outputs the section presence signal. Then, the section presence signal detection unit E
Transistor TR101 becomes conductive, the base voltage of transistor TR102 rises, and transistor TR102 becomes conductive.
Due to this conduction, the relay coil P1 of the seated relay for the first section
LED1 LED that indicates when someone is excited
Lights up and detects that the vehicle is present in the first section W1.

Also, the normally open contact of the seated relay provided in the section seated output section C by exciting the relay coil P1 of the seated relay for the first section.
When P1a is closed, the section presence output section C outputs a presence signal indicating that the vehicle is present in the first section. At the same time, the normally-closed contact P1b of the seating relay in the section vacant seat output section D is opened, and the section vacant seat output section D does not output the vacant seat signal detecting the vacant seat of the vehicle.

Next, the control operation for prohibiting entry of the vehicle into the seated section is
This will be described with reference to the circuit shown.

It is assumed that a vehicle (not shown) runs at high speed in the arrow direction from the first section W1 side. When the traveling vehicle is not seated in the second section W2, the seated signal output circuit section G of the vehicle side device VEH does not intervene between the signal lines 1a and 1b in the second section W2. No current flows between 1b and the ground side device GN
The relay coil P2 of the second section seated relay of the section seated signal detection section E (see FIG. 4) of D is not excited, and the normally closed contact P2b of the section empty seat output section D as shown in FIG. The circuit is closed and the relay coil H1 of the first section high speed command relay is excited, and its normally open contact H1a is closed. Therefore, a direct current voltage of 48V between the terminals V3 and V0, that is, a high speed command signal is transmitted to the first via the diode D24, the normally open contact H1a and the resistor R9.
The vehicle, which is provided between the signal lines 1a and 1b of the section W1 and enters the first section W1, is driven by the speed command signal for instructing the high speed and travels at a high speed in the first section W1.

By the way, when the preceding vehicle is present in the third section W3, as shown in FIG. 6, the presence signal output circuit section G is interposed between the signal lines 1a and 1b of the third section W3 and the signal line Since a current flows between 1a and 1b, the relay coil P3 (see Fig. 4) of the third section seated relay of the section seated signal detection unit E on the ground side is excited and its normally closed contact is closed. P3b opens. That is, the output signal of the section vacant seat output section D disappears,
The relay coil H2 of the high speed command relay for the second section is demagnetized, and its normally open contact H2a is opened. As a result, the second section W
The high-speed speed command signal applied between the two signal lines 1a and 1b is cut off. Therefore, the vehicle that has traveled from the first section W1 to the second section W2 stops in the second section W2, and entry into the third section W3 is prohibited. As a result, the traveling vehicle can be prevented from colliding with the preceding vehicle seated in the third section W3. The control of the traveling speed of the vehicle and the detection of the presence of the vehicle are similarly performed in each section other than the first section.

In addition, in the signal lines 1a and 1b of the second, third and fourth sections W2, W3 and W4,
When a high speed command is performed by inserting contacts that are closed by excitation of relay coils M1, M2, M3 and L1, L2, L3 of the medium speed and low speed command relays for each section of the speed voltage command section A in the same manner as above Similarly, in the second, third, and fourth sections W2, W3, and W4, it is possible to issue a medium speed command and a low speed command to the vehicle. Further, it is possible to prohibit the vehicle from entering the section where the vehicle is seated even during the speed control of the medium speed and the low speed.

Although the control operation without using the traveling control management sequence is shown in the present embodiment, the traveling speed selection command and the traveling information of the traveling information are detected using the seating signal detected when the vehicle is seated in the section. A configuration having functions such as section-corresponding shift, section movement confirmation, and monitor is possible.

Although detailed description of the control operation is omitted in the present embodiment, when the circuit for outputting the speed command signal of the speed voltage command section is opened by the fuse disconnection by the speed command power source fuse disconnection signal section B, the state is maintained. Can be detected. Further, the condition for driving the vehicle can be made more reliable by the detection of the traveling command signal by the traveling signal detection unit L, and erroneous traveling of the vehicle can be prevented. Further, the abnormal signal detection unit H has a protective function such as, when an abnormality occurs in the control operation, detecting the abnormality and stopping the traveling of the vehicle.

In the present embodiment, the speed command signal has three levels of low, medium, and high speed, but by increasing the voltage level thereof, the speed of the vehicle is commanded in multiple levels to smoothly control the traveling speed of the vehicle. Of course you can.

〔effect〕

As described in detail above, according to the present invention, the speed command signals having different voltage levels are transmitted from the ground side device to the vehicle by using only two signal lines provided along the track on which the vehicle travels. The traveling speed of the vehicle can be controlled.
In addition, the material cost of the signal line and the number of installation steps can be reduced, and moreover, it is not affected by external noise or the like. Furthermore, the presence of the vehicle in the section can be detected by the ground-side device through the two signal lines, and a stop command signal can be output to stop the vehicle. Therefore, the vehicle in the section can be stopped. It has an excellent effect that it can prevent a collision against.

[Brief description of drawings]

The drawings show a traveling control device for a self-propelled vehicle according to the present invention, and FIG. 1 is a schematic configuration diagram of a traveling control device for a self-propelled vehicle, which includes a ground-side device, a vehicle-side device, and a signal line. 2 is a block diagram showing the configuration of the ground side device and the vehicle side device shown together with the signal lines, FIG. 3 is a circuit diagram of the ground side device for one section of the signal line, and FIG. 4 is the ground for four sections of the signal line. FIG. 5 is a circuit diagram showing the configuration of the vehicle side device, and FIG. 6 is a circuit showing the connection state between the signal lines of four sections and the speed voltage command section and the section vacant seat output section in the ground side apparatus. It is a figure. 1a, 1b ... Signal line, 2 ... Transmitting section, 4 ... Receiving section, A ...
… Velocity voltage command section D …… Section vacant seat output section, E …… Section occupancy signal detection section, G
…… Seating signal output circuit GND …… Ground side device, VEH …… Vehicle side device

Claims (1)

[Claims] 1. Ground equipment (GND) and signal lines (1a), (1
b) and a vehicle-side device (VEH), which is a traveling control device for a self-propelled vehicle, wherein the signal lines (1a), (1b) are arranged along a track along which the self-propelled vehicle travels, The signal line (1a) is divided into multiple sections, and the ground-side device (GND) has a speed command signal (A) with different speed command signals or self-propelled vehicle seated sections. Signal the stop command signal (1
It is output between a) and (1b), and the section presence signal detection unit (E) detects the section presence signal and determines the presence section of the self-propelled vehicle, and the vehicle side device (VEH) is self-propelled. It is mounted on the vehicle to control the traveling of the self-propelled vehicle, and the speed signal detector (J) controls the signal line (1
a), (1b) detects a speed command signal or a stop command signal, and the seating signal output circuit section (G) outputs the vehicle section seating signal between the signal lines (1a), (1b). Drive control device for the vehicle.