JPS6370309A - Emergency stop controller for moving car - Google Patents

Abstract

PURPOSE:To execute emergency stop of a moving car with a safe distance sufficient for the prevention of collation by simple modification when an obstacle existing in a traveling direction is other substance such as a worker and to determine the stopping interval between the preceding moving car and the succeeding moving car as a narrow value by fitting a reflection part for lowering the reflection strength of a detecting signal obtained from an obstacle sensor to the back part of each moving car. CONSTITUTION:Black rubber B is stuck to the whole surface of the back part of the moving car A to reflect or observe an obstacle detecting signal projected from the obstacle sensor Sx and lower the reflecting strength. When the precedently traveling moving car A is the moving car concerned, the obstacle detecting signal is reflected at random or observed by the black rubber B to reduce the intensity of a signal received by the succeeding car A as compared to the obstacle. In case of a normal worker or the like, the signal is received while keeping its intensity as it is and the moving car A is stopped with a safety distance. Thus, the interval between the preceding moving car A and the succeeding moving car A is narrowed by the simple modification at the time of stopping the moving car A.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a mobile vehicle used for automatically transporting various tools, workpieces, etc. between desired stations in a factory, etc. , Emergency stop for safe automatic driving 1tjll? Regarding device B, in detail, it emits a detection signal toward the front side of the moving vehicle automatically traveling along the moving vehicle guidance line, and receives a reflected signal of the detection signal, and also receives the reflected signal of the detected signal. A reflective obstacle sensor is provided for detecting the presence or absence of an obstacle based on the intensity of a reflected signal, and stop control means is provided for causing the moving vehicle to come to an emergency stop when the obstacle sensor detects the presence of the obstacle. This relates to an emergency stop control device for a certain moving vehicle.

[Conventional technology]

In the above-mentioned emergency stop control device for a moving vehicle, if a person or other object enters the traveling path of the moving vehicle, there is a risk of the moving vehicle colliding. An obstacle sensor is installed to detect the presence of an obstacle, and when the presence of an obstacle is detected, the vehicle automatically stops running, thereby automatically avoiding a collision.

However, if there are no obstacles, the vehicle will automatically start again.

By the way, when the above mobile vehicle is used, for example, as a trolley for assembly work on an assembly line, it may be necessary to narrow the distance between stations where the preceding mobile vehicle and the following mobile vehicle stop at the same time. .

Therefore, in the past, contact type obstacles were used, such as an obstacle sensor that detects the presence or absence of an obstacle in a non-contact manner, and a bumper that absorbs DJ impact by retracting toward the vehicle body when it comes into contact with another object. An object sensor is installed, and when the non-contact obstacle sensor detects an obstacle, the vehicle is decelerated to the extent that it can stop immediately, and when the contact obstacle sensor is activated, it is made to make an emergency stop. Ta.

By the way, the above-mentioned reflective obstacle sensors include various types of obstacle detection signals, such as an ultrasonic type that uses ultrasonic waves, a light reflective type that uses infrared light and other light, and a radar set that uses radio waves. can be used.

[Point S while the invention is trying to solve the problem]

However, in the conventional configuration described above, since multiple types of obstacle sensors are provided, the device configuration becomes complicated and expensive.Also, since the configuration is such that an emergency stop occurs when it comes into contact with an obstacle, the above-mentioned assembly If a worker working on the line becomes an obstacle to a moving vehicle, please take precautions for personal safety.
It is desired to stop moving vehicles without contact.

However, the above-mentioned non-contact obstacle sensor detects whether there is an obstacle such as a worker entering or another object in front of the moving vehicle, or whether there is a preceding moving vehicle in front of the moving vehicle. , since it is not possible to distinguish
Whether the obstacle is the preceding vehicle or another object, an emergency stop will occur as the vehicle approaches the distance at which a reflected signal of the set strength is received, narrowing the interval at which the vehicle stops. It was something that could not be done.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to detect the presence or absence of an obstacle in front of the vehicle in a non-contact manner, and to detect the presence or absence of an obstacle in front of the vehicle such as a worker or other object. In this case, it is possible to make an accurate emergency stop without colliding, and if the obstacle is a preceding moving vehicle, it is possible to stop the following moving vehicle while approaching. It is to make it.

Means for Solving Problem C] The characteristic configuration of the emergency stop control device for a mobile vehicle according to the present invention is as follows:
The moving vehicle is provided with a reflecting section on the rear surface thereof that diffusely reflects or absorbs the detection signal from the obstacle sensor of the following moving vehicle and reduces the intensity of the reflected signal, and its operation and effects are as follows. It is as follows.

[For production]

That is, by providing a reflecting part that reduces the reflection intensity of the obstacle detection signal on the rear surface of the preceding moving vehicle, which reflects the obstacle detection signal emitted from the following moving vehicle, the following moving vehicle can The distance at which the vehicle's obstacle sensor detects the preceding moving vehicle as an obstacle can be made shorter than when another object such as a worker exists as an obstacle in front of the vehicle.

Therefore, if the obstacle is a preceding moving vehicle, the reflection intensity of the obstacle detection signal will decrease, so that the following moving vehicle will be unable to detect objects such as workers if there is another object in front of it as an obstacle. Instead, the vehicle will stop closer to the vehicle in front.

〔Effect of the invention〕

Therefore, by simply modifying the back of the moving vehicle to include a reflective part that reduces the hardness of reflection of the detection signal from the obstacle sensor, it is possible to prevent collisions if the obstacle in front of the vehicle is another object, such as a worker. while safely making an emergency stop at a distance that does not
It has now become possible to narrow the stopping interval between the preceding moving vehicle and the following moving vehicle.

C Example] Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 1, a light reflective tape (L) for forming a line for transporting vehicles is pasted on the road surface side along the travel route of the mobile vehicle (A), and Delusion (S
A plurality of T) are located on the lateral side of the traveling route, and the moving vehicle (A) is configured to carry out the work of transporting each loaded load while traveling between the stations. .

The configuration of the moving vehicle (A) will be explained as shown in FIGS.
As shown in Figure 3, the vehicle body is equipped with a loading platform (1),
A pair of left and right propulsion wheels (2), (2) are each provided with a pair of electric motors (M), (M) that can be driven and stopped independently, and a pair of left and right caster type idle wheels (3) are provided.
The left and right propulsion wheels (2) are provided at the front and rear ends of the vehicle body,
(2) The electric motors (M) and (M) are configured to be operated to change speeds so as to differentiate their rotational speeds for steering.

To explain the traveling control means for automatically driving the moving vehicle (A) along the light reflective tape (L), as shown in FIGS. 1 and 4, there is a light projector that illuminates the light reflective tape (L). (5) and an optical sensor (St) equipped with an image sensor (6) for receiving reflected light from the light reflecting tape (L) and detecting the light reflecting tape (L). ), the host controller (7) is provided at the front end of the mobile vehicle (A) and controls the traveling of the mobile vehicle (A), and the image sensor (6)
An image processing controller (
8) and a digital servo controller (9) for controlling the operation of the electric motors (M) and (M) are provided on the mobile vehicle side. and both electric motors (M).

The encoders (10) and (10) attached to (M),
In addition to connecting to the digital servo controller (9), a servo amplifier (11) for both the electric motors (M), (M) is connected to the digital servo controller (9) via a servo amplifier driver (12). , While the image processing controller (7) calculates and determines the amount of lateral deviation of the vehicle body with respect to the center of the light reflective tape (L), the two electric motors (M) operate in order to make the amount of lateral deviation zero. , (M) to shift the moving vehicle (
A) is configured to automatically run along a light reflective tape (L).

In addition, a mark (m) that displays various travel control information such as the stop position of the moving vehicle (A) with respect to the station (ST), the branching/merging start position at the intersection (CR), etc. is attached to the optical sensor (SL). It is provided on the light reflective tape (L) so that it can be read.

In addition, an infrared transmitter (a ) and a receiver (b) are provided on the moving vehicle side and the station side, respectively, and the optical communication device (13) on the moving vehicle side is connected to the host controller (7). ,
In addition, the optical communication devices (14) on the station side are connected to the central control device (C) on the ground side, respectively, so that various information such as information manually input to the central control device (C) and information stored in advance can be transmitted to the central control device (C). Based on this, the mobile vehicle (A) can automatically travel to a desired station (ST).

That is, the image processing controller (8) transmits a mark discrimination signal to the host controller (7), and the host controller (7) transmits traveling speed information, turning information, forward/reverse information, etc. to the digital servo controller (9). The digital servo controller (9) moves while exchanging information between the controllers (7), (8), and (9), such as transmitting information on whether or not the digital servo controller (9) is running to the host controller (7). It is configured to control the running of the vehicle (A).

However, the command information input section for the central control device (C),
This is to prepare the moving vehicle (A) and the station (ST).

In addition, it detects whether or not there is an obstacle within a set distance in front of the moving vehicle (A). A light reflection type obstacle sensor (Sx) is provided at the center of the front part of the moving vehicle (A) to detect the presence of an obstacle by receiving signals at the above level.

The configuration of the obstacle sensor (Sx) will be explained as follows.
As shown in FIG. 4, there is a floodlight (15) that emits infrared light as an obstacle detection signal toward the front of the vehicle, and an infrared light that is emitted from the floodlight (15) and reflected by obstacles. A light receiver (16) that receives reflected light is provided as a pair, and the light receiver (16) receives light of the same wavelength as the infrared light emitted from the projector (15) with an intensity equal to or higher than a set darkness value. The presence or absence of an obstacle is detected based on whether the obstacle is present or not.

Then, the obstacle sensor (Sx) is connected to the host controller (7), and as will be described in detail later, the host controller (7) controls the light receiver (16).
determines the presence of an obstacle when it receives infrared light with an intensity greater than the set darkness value (abbreviated as reflected light reception in the following description), and detects the presence of a moving vehicle (^
) should be brought to an emergency stop.

In other words, the host controller (7) is used to configure various control means for avoiding obstacles, as will be described later.

However, as shown in FIGS. 1 to 3, the moving vehicle (A)
Sponge-like black rubber ( B) is pasted, and
It constitutes a reflector that reduces the reflection intensity of the obstacle detection signal emitted from the following moving vehicle (A).

Therefore, when the obstacle in front of the vehicle is a moving vehicle traveling in advance, the obstacle detection signal emitted from the following moving vehicle is affixed to the rear surface of the moving vehicle (A). Diffuse reflection or absorption occurs on the black rubber (B), and the intensity of the reflected signal received by the following moving vehicle is lower than the reflected signal obtained from a normal obstacle. In the case of a moving vehicle that travels in front of a vehicle, the distance at which the following moving vehicle automatically detects the presence of an obstacle and makes an emergency stop becomes shorter.

Next, various control means for avoiding obstacles, which are configured using the host controller (7), will be explained.

That is, upon receiving the reflected light, both electric motors (M)
, (M) to the digital servo controller (9) to automatically bring the mobile vehicle (A) to an emergency stop.

Upon determining that reflected light is not being received or that the reflected light receiving state has been released, both electric motors
, (?I) to the digital servo controller (9) to automatically restart the mobile vehicle.

Example c] In the above example, the obstacle sensor is configured as a light reflection type in which infrared light is projected to the front side of the vehicle as an obstacle detection signal and the reflected light is sensed. As described above, the present invention can be configured to detect reflected signals of signals propagating in space, such as an ultrasonic type using ultrasonic waves or a radar set using radio waves, and various signal media can be used. .

Further, in the above embodiment, the reflecting portion that diffusely reflects or absorbs the obstacle detection signal emitted from the obstacle sensor (Sx) and reduces the intensity of the reflected signal is formed of black rubber (B). The above example shows the case where the obstacle sensor (
Of course, various changes will be made depending on the format of the obstacle detection signal used in Sx).

Incidentally, when using an ultrasonic obstacle sensor, the sponge-like rubber (B) used in the above embodiment can diffusely reflect or absorb ultrasonic waves as is. However, when using ultrasonic waves, it is not necessary to form the film in black.

In addition, when constructing a radar set that uses radio waves, it is sufficient to apply a so-called radio wave absorber such as paint containing ferrite to the back of the moving vehicle (A) to form a reflective part (B). The configuration of the reflecting section (B) can be modified in various ways.

Further, in the above embodiment, the reflecting section (B) is connected to the moving vehicle (A).
).
It is only necessary to provide the obstacle sensor (Sx) within a range where the reflected signal of the obstacle detection signal can be detected, and the obstacle detection range of the obstacle sensor (Sx) and the shape of the moving vehicle (A) are Various changes can be made depending on the situation.

In addition, in the above embodiment, an example was shown in which a light reflective tape was used to construct the line for guiding moving vehicles, but the present invention also provides a method in which electromagnetic induction wires are buried and electromagnetic waves induced in the wires are detected. Various changes can be made, such as installing a pick-up coil. In addition to being provided on the traveling road surface, the moving vehicle guiding line can also be provided on a side wall surface, ceiling surface, etc. along the traveling route.

Further, the specific configuration of each part, such as the sensor and control configuration for automatically driving the mobile vehicle along the guide line, may be changed in various ways depending on the configuration of the mobile vehicle to which the present invention is applied. is not limited to the above embodiments.

[Brief explanation of the drawing]

The drawings show an embodiment of the emergency stop control device for a moving vehicle according to the present invention, in which FIG. 1 is a schematic plan view showing the layout of the guidance line and the configuration of the moving vehicle, FIG. 2 is a rear view of the moving vehicle, and FIG. The figure is a side view, and FIG. 4 is a block diagram showing the overall configuration of the control device. (L)...Guidance line, (Sx)...
・Obstacle sensor, (A)...Moving vehicle, (B)・
...Reflection part.

Claims (1)

[Claims] A detection signal is emitted toward the front side of the moving vehicle (A) automatically traveling along the moving vehicle guidance line (L), and a reflected signal of the detection signal is received, and the received reflection signal is emitted. A reflective obstacle sensor (Sx) that detects the presence or absence of an obstacle based on the strength of the signal is provided, and when the obstacle sensor (Sx) detects the presence of the obstacle, the moving vehicle (A) is alerted. An emergency stop control device for a moving vehicle, which is provided with a stop control means for stopping the moving vehicle, and the device transmits a detection signal from an obstacle sensor (Sx) of a following moving vehicle (A) to the rear surface of the moving vehicle (A). An emergency stop control device for a moving vehicle, which is provided with a reflecting part (B) that reduces the intensity of a reflected signal by diffusely reflecting or absorbing it.