JPH01130209A - Rear-end collision preventing device for moving car - Google Patents

Abstract

PURPOSE:To automatically prevent a rear-end collision by projecting a moving car existence signal to the rear side in the advance direction from a preceding moving car, receiving it by a moving car being in the rear and executing a temporary stop, etc. CONSTITUTION:The control constitution for preventing a rear-end collision of a moving car, based on detecting information of an ultrasonic sensor S1 and photodetecting information of a photodetector S3 is provided with a controller 6 for controlling a running use motor 2 and a steering use motor 4 so that the moving car runs automatically along a guidance use line L to a set address, based on the detecting information of a steering use guide sensor S4 and an address use sensor S5. To said controller 6, said each sensor S1-S5 is connected, and also, driving circuits 7-8, a stop release switch 9 and a setting device 10 with an indicator are provided. In this state, a moving car existence signal is projected to the rear side in the advance direction from a preceding moving car, and it is received by a moving car being in the rear. Subsequently, said moving car discriminates whether an obstacle in front is the preceding moving car or an obstacle which has invaded onto a running path, and stops, etc.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a distance measuring system that can freely detect the distance to an obstacle in the forward direction of a moving vehicle automatically traveling along a moving vehicle guidance line. An obstacle detection sensor is provided, and based on the detection information of the obstacle detection sensor, the mobile vehicle makes an emergency stop as the vehicle approaches the obstacle within a set distance for an emergency stop, and The present invention relates to a rear-end collision prevention device for a moving vehicle, which is provided with an emergency stop control means that releases the stopped state of the moving vehicle when instruction information for canceling the stop is given.

[Conventional technology]

The above-mentioned rear-end collision prevention device for moving vehicles uses detection information from distance-measuring obstacle detection sensors to prevent autonomous moving vehicles from colliding with obstacles such as people who have entered the driving route. Based on this, the mobile vehicle is automatically stopped as it approaches an obstacle within a set distance for emergency stopping.

However, when restarting a moving vehicle that has stopped in an emergency,
After the obstacle has been removed, for example, an instruction to cancel the stoppage is given manually to ensure safety when the vehicle resumes running.

[Problem that the invention seeks to solve]

For example, when a mobile vehicle is used to transport various articles within a factory, a plurality of mobile vehicles may travel simultaneously along the same guide line.

In the conventional configuration, when a moving vehicle approaches a preceding moving vehicle, it also comes to an emergency stop; however, when approaching a preceding moving vehicle and making an emergency stop, the distance to the preceding moving vehicle is As the vehicle moves away enough to avoid rear-end collision,
There is no danger in automatically restarting the vehicle behind you, and if you approach a vehicle in front and make an emergency stop, you can continue driving without giving a special instruction to cancel the stop. It would be desirable to restart automatically.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to automatically stop the vehicle when the obstacle in front of the vehicle is another moving vehicle in front, thereby avoiding a rear-end collision. , and to be able to automatically resume running.

[Means for solving problems]

The characteristic structure of the rear-end collision prevention device for a moving vehicle according to the present invention includes a signal projection means for projecting a moving vehicle presence signal toward the rear side in the direction of travel, and a signal receiving means for receiving a moving vehicle presence signal from the front side in the direction of travel. is provided so as to be able to communicate within a range separated by a distance greater than the set distance for the emergency stop, and based on the reception information of the signal receiving means and the detection information of the obstacle detection sensor, the movement Upon receiving a vehicle presence signal and detecting the presence of an obstacle within a set distance for temporarily stopping, temporarily stopping the moving vehicle;
and a temporary stop control means for automatically restarting the traveling of the moving vehicle when the moving vehicle presence signal is not received and it is detected that there is no obstacle within a set distance for temporarily canceling the stop. The functions and effects are as follows.

[For production]

In other words, the obstacle detection sensor detects an obstacle by projecting a vehicle presence signal from the preceding vehicle toward the rear in the direction of travel, and by having the vehicle behind receive the vehicle presence signal. In this case, it is determined whether the obstacle in front is a moving vehicle in front or an obstacle that has entered the driving route, and if the obstacle in front is a moving vehicle in front, The vehicle is temporarily stopped as the vehicle approaches within the set distance for stopping, and is automatically restarted when the moving vehicle ceases to receive the vehicle presence signal and once moves beyond the set distance for canceling the stop.

[Effects of the invention] Therefore, if the obstacle in front of the vehicle is an object that has entered the travel path, the vehicle can be safely brought to an emergency stop, and if the obstacle in front of the vehicle is a moving vehicle in front. Now, it has become possible to automatically restart a moving vehicle while avoiding a rear-end collision.Furthermore, by effectively utilizing an obstacle detection sensor, the distance between moving vehicles can be accurately detected when the vehicle has stopped. This makes it possible to avoid the risk of moving vehicles unnecessarily separating too far from each other or coming too close to each other once they have stopped.

〔Example〕

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

As shown in Figures 3 and 4, a moving vehicle (A) equipped with a loading platform (1) for transporting goods on the upper part of the vehicle body is equipped with a propulsion motor (2) that can be driven and stopped at the front of the vehicle body. Wheels (3)
is provided so that it can be steered freely by a steering motor (4), and a pair of left and right caster-type idle wheels (5) are provided at the rear of the vehicle body.
is provided.

A pair of left and right reflective ultrasonic sensors (S1) are installed at the front of the vehicle as distance-measuring obstacle detection sensors, and at the center of the rear of the vehicle, light of a set wavelength is sent to the vehicle as a moving vehicle presence signal. A light projector (S2) serving as a signal projection means for projecting a signal toward the rear side is provided, and at the center of the front of the vehicle body, light projected toward the rear from the projector (S2) of the preceding moving vehicle (A1) is provided. A light receiver (S1) is provided as a signal receiving means for receiving light.

However, the light receiving range of the light receiver (S1) (the range indicated by the broken line (a) in Fig. 3) is the stop range (Fig. 3) as the set distance range for emergency stop by the ultrasonic sensor (Sl). medium, the range shown by the solid line (b)) is set larger than the range shown by the solid line (b),
The light receiver (S1) is configured to receive light projected from the light projector (S2) before the ultrasonic sensor (Sl) detects that there is an obstacle within the stop area.

In addition, in FIG. 3, (c) will be described in detail later, but as the presence of an obstacle is detected in this area, the mobile vehicle (A
) is a deceleration region for decelerating the vehicle, which is smaller than the light receiving range (a) of the light receiver (Sl) and is smaller than the stop region (
b). Then, the deceleration region (c
), when the rear moving vehicle (A2) detects the preceding moving vehicle (80), the set distance range for temporarily stopping the rear moving vehicle (A2), and the setting distance range for temporary stopping. It is also used as a set distance range for temporarily canceling the stop.

Further, (S4) is a steering guide sensor that detects a moving vehicle guidance line (L) provided on the road surface side, (S1)
is an address sensor that detects a mark (m) provided on the road surface for displaying address information indicating the position of the driving route.

The configuration for detecting the distance to an obstacle based on the detection information of the ultrasonic sensor (Sl) will be described. Although illustration is omitted, the ultrasonic sensor (S1) transmits ultrasonic waves at a set period. It consists of a transmitter that repeatedly emits forward waves and a receiver that receives the reflected waves of the ultrasonic waves that are projected from the transmitter and reflected by obstacles. The device is configured to detect the distance to an obstacle based on the following.

Next, a control configuration for preventing a rear-end collision of the mobile vehicle (1) will be explained based on the detection information of the ultrasonic sensor (Sl) and the light reception information of the light receiver (S1).

As shown in FIG. 1, the steering guide sensor (S4
) and the detection information of the address sensor (S1),
A control device () that controls the traveling motor (2) and the steering motor (4) so that the moving vehicle (A) automatically travels along the guiding line (L) to the set address. 6), and the control device (6) includes the ultrasonic sensor (S1), the light projector (S2), and the light receiver (
S3), the steering guide sensor (S4), and the address sensor (Ss) are connected to each other.

In the figure, (7) is a drive circuit for the traveling motor (2), (8) is a drive circuit for the steering motor (4), and (9) is a drive circuit for the steering motor (4).
(10) is a stop release switch for instructing to cancel the stop when the moving vehicle (A) has made an emergency stop; (10) is a stop release switch for instructing to cancel the stop when the moving vehicle (A) has made an emergency stop; This is a setting device with a display for inputting settings.

However, using the control device (6), the mobile vehicle (A
) causes an emergency stop when the moving vehicle (A) approaches an obstacle within the stopping area (b), and releases the stopped state of the moving vehicle (A) when instruction information for canceling the stopping is given. a stop control means (100), and a stop control means (100) for temporarily stopping the moving vehicle (A) as it approaches the deceleration region (c) with respect to the preceding moving vehicle, and moving the vehicle (A) out of the deceleration region (c); Each of the temporary stop control means (101) is configured to automatically restart the traveling of the mobile vehicle (A) as the mobile vehicle (A) moves away from the vehicle.

Next, based on the flowchart shown in FIG. 2, while explaining the operation of the control device (6), the emergency stop control means (100) and the temporary stop control means (101
) will be explained in detail.

However, the moving vehicle (A) is guided by the guiding line (L) based on the detection information of the steering guide sensor (S4).
, and the address sensor (S5
) is assumed to be in a state of automatically traveling along a set travel route based on the detected information.

As the control is activated, first, the light receiver (S3)
Based on the light reception information, it is determined whether or not the light projected from the light projector (S2) of the preceding mobile vehicle (A1) has been received (see FIG. 3).

When the light receiver (S3) does not receive light, it is determined whether the detection distance of the obstacle is within the stopping area (b) based on the detection information of the ultrasonic sensor (Sl). .

If the detected distance is within the stop range (b), the drive motor (2) is stopped and the moving vehicle (
8) will be brought to an emergency stop.

However, even if the detection distance is not within the stopping area (b), if it is within the deceleration area (c), the vehicle can be safely stopped when approaching the stopping area (b). In order to do this, the traveling speed of the mobile vehicle (A) is reduced to a preset speed.

and the detection distance is not within the stop area (b),
If the moving vehicle (A) is not within the deceleration range (c), it is determined whether the moving vehicle (A) is stopped, and if it is stopped, the moving vehicle (A) is started traveling at the normal speed. On the other hand, if it is not stopped, it is determined that it is in an emergency stop, and the emergency is stopped until the stop release switch (9) is turned on and an instruction to release the stop is input. It will maintain the stopped state.

That is, when the light receiver (S3) does not receive light, if the detected distance to the obstacle by the ultrasonic sensor (S+) is in the deceleration region (c), the vehicle is decelerated and the distance is reduced to the stop region (b). When the stop release switch (9) is turned on and an instruction to release the stop is input, the emergency stop state is released and the vehicle resumes running. , corresponds to the emergency stop control means (100).

On the other hand, when the light receiver (S2) receives light from a preceding moving vehicle, as the detection distance by the ultrasonic sensor (S+) falls within the deceleration range (c), The moving vehicle (A) will be temporarily stopped.

However, even if the light receiver (S2) is in a light receiving state, if the detection distance by the ultrasonic sensor (S1) is outside the deceleration range (c), the mobile vehicle (^) is stopped. It never happens.

That is, the light receiver (S2) receives the light projected from the preceding moving vehicle, and the ultrasonic sensor (S1)
As the detection distance becomes within the deceleration range (c),
The mobile vehicle (A) is temporarily stopped, and the light receiver (S2)
is not receiving light, and the ultrasonic sensor (
When the distance detected by the stop control means (Sl) is neither within the stop range (b) nor within the deceleration range (c), the process of automatically canceling the stop and causing the vehicle to travel at high speed is performed once by the stop control means (1).
01).

Example c] In the above embodiment, the emergency stop is canceled by manually operating the stop release switch (9) attached to the mobile vehicle (^). (A) A specific configuration for providing instruction information for canceling the suspension state, such as attaching a communication device that can freely communicate various information with (A) and instructing cancellation of suspension via that communication device, is as follows. Various changes can be made.

Furthermore, in the above embodiment, the mobile vehicle (A) is temporarily decelerated before being brought to an emergency stop; however,
The emergency stop may be performed immediately upon detecting the presence of an obstacle within the set distance for the emergency stop.

Further, in the above embodiment, an example is given in which an ultrasonic sensor (Sl) is used as a range-finding obstacle detection sensor, but the specific configuration can be modified in various ways.

In addition, in the above embodiment, a light projector (
S2) and a light receiver (S2) that receives the light projected from it.
3) is used to illustrate the case where the signal projection means and signal reception means for projecting the moving vehicle presence signal were configured in the previous generation, but for example, the moving vehicle presence signal could be communicated using radio waves. The specific form of the moving vehicle presence signal and the specific configurations of the signal projection means and signal reception means may be modified in various ways.

In addition, the present invention allows the moving vehicle (A) to automatically travel along the moving vehicle guidance line (L) by configuring an electromagnetic induction system using magnetism or an optical guidance system using a light reflective tape or the like. It can be implemented in various forms, including the specific configuration of the mobile vehicle (8), the specific configuration of the mobile vehicle guidance line (L), and the automatic travel of the mobile vehicle (A) along the guidance line (L). The specific configuration of each part, such as the control configuration, can be changed in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the rear-end collision prevention device for a moving vehicle according to the present invention, FIG. 1 is a block diagram of the control configuration, FIG. 2 is a flowchart of the control operation, and FIG. 3 is a plan view showing the schematic configuration of the moving vehicle. , FIG. 4 is a side view of the same. (A)...Moving vehicle, (L)...Moving vehicle guidance line, (S1)...Obstacle detection sensor, (s2)...・Signal projection means, (S3)・
... Signal receiving means, (100) ... Emergency stop control means, (101) ... Temporary stop control means.

Claims (1)

[Claims] A distance-measuring obstacle detection sensor (S_1) is provided that can freely detect the distance to an obstacle on the forward side in the traveling direction of the mobile vehicle (A) automatically traveling along the mobile vehicle guidance line (L), Based on the detection information of the obstacle detection sensor (S_1), as the mobile vehicle (A) approaches the obstacle within a set distance for emergency stop, the mobile vehicle (A) makes an emergency stop, and
As instruction information for canceling the stop is given, the moving vehicle (
Emergency stop control means (100) for canceling the stopped state of A)
A rear-end collision prevention device for a moving vehicle is provided with a signal projection means (S_2) for projecting a moving vehicle presence signal toward the rear side in the direction of travel, and a signal for receiving a moving vehicle presence signal from the front side in the direction of travel. A receiving means (S_3) is provided so as to be able to communicate within a range separated by a distance greater than the set distance for emergency stop, and information received by the signal receiving means (S_3) and the obstacle detection sensor are provided. Based on the detection information of (S_1), upon receiving the moving vehicle presence signal and detecting that an obstacle exists within a set distance for stopping, the moving vehicle (A) is temporarily stopped. , and upon detecting that the moving vehicle presence signal is not received and that there is no obstacle within the set distance for canceling the stop,
A rear-end collision prevention device for a moving vehicle, which is provided with a temporary stop control means (101) for automatically restarting the traveling of the moving vehicle (A).