JPH06314123A - Moving vehicle guide facility - Google Patents

Abstract

(57) [Summary] (Correction) [Purpose] To provide a road surface installation type mobile vehicle guidance facility equipped with a storage medium that can be easily removed. A storage medium T comprising a storage means for storing traveling control information of a moving vehicle, a communication means for exchanging information with the moving vehicle, and a case for storing them.
In the mobile vehicle guiding equipment installed on the road surface corresponding to the travel route of the mobile vehicle, the storage medium T is detachably mounted in a bottomed base frame 17 embedded in the road surface in an internally fitted state. Has been done.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a memory having a storage means for storing traveling control information of a moving vehicle, a communication means for exchanging information with the moving vehicle, and a case for storing them. The medium relates to a mobile vehicle guidance facility installed on a road surface corresponding to the travel route of the mobile vehicle.

[0002]

2. Description of the Related Art Such a storage medium is used to appropriately provide travel control information to a moving vehicle that travels unmanned along a predetermined travel route. For example, when a moving vehicle follows along a guide line, stop information such as a distance to a stop position is stored as travel control information in a storage medium installed in front of the station. In addition, branch information such as an address of a branch destination is stored as traveling control information in a storage medium installed at a position before the branch point. Then, the moving vehicle performs close proximity wireless communication with the storage medium by electromagnetic induction to read the traveling control information.

Generally, the above-mentioned storage medium is used by being embedded in the traveling road surface of a moving vehicle. At this time, conventionally, the storage medium installation location on the traveling road surface is cut to match the shape of the storage medium to form a recess, and the storage medium is directly fitted into the recess and fixed with an epoxy resin or the like ( See, for example, Japanese Patent Application No. 3-136029 previously proposed by the present applicant).

[0004]

Therefore, since the conventional storage medium is directly fitted into the concave portion provided on the road surface as described above and fixed by the epoxy resin or the like, the storage medium is replaced or repaired. When it becomes necessary to perform (for example, the life of the storage medium, the damage (defective) of the storage medium, the replacement of the battery, or the change of the guide line of the moving vehicle),
The storage medium installation location has to be dug out to take out the storage medium, and such a storage medium removal operation is time-consuming and there is room for improvement. The present invention has been made in view of the above-mentioned actual circumstances, and its purpose is to:
It is an object of the present invention to provide a mobile vehicle guidance system equipped with a storage medium that can be easily removed.

[0005]

Means for Solving the Problems A mobile vehicle guidance system of the present invention comprises a storage means for storing traveling control information of the mobile vehicle, a communication means for exchanging information with the mobile vehicle, and a communication means for transmitting and receiving the information. A storage medium including a case to be stored is installed on a road surface corresponding to a traveling route of the moving vehicle, and a first characteristic configuration thereof is a bottomed state in which the storage medium is embedded in the road surface. The point is that it is detachably attached to the base frame of the above. The second characteristic configuration is that the outer shape of the base frame is cylindrical.

[0006]

According to the first characteristic construction of the present invention, a bottomed base frame is embedded in the road surface, and the storage medium is detachably mounted in the base frame. Therefore, the removal of the storage medium from the road surface is performed by removing the storage medium from the base frame. According to the second characteristic configuration, since the outer shape of the base frame is a cylindrical shape, it is easier to form a recess for embedding the base frame on the road surface, as compared with the case of a rectangular parallelepiped shape or the like. For example, by using a drill having a cylindrical rotary blade, a circumferential kerf is formed at a predetermined position on the road surface, and the inside of the circumference is carved to easily form a cylindrical recess on the road surface. Can be done.

[0007]

According to the first characteristic configuration, by removing the storage medium from the base frame as described above, it is possible to easily remove the storage medium from the location where the storage medium is installed on the road surface. Therefore, the storage medium can be easily removed. The present invention has led to the provision of a mobile vehicle guidance system equipped with a storage medium that can be used. According to the second characteristic configuration, as described above, the base frame can be easily embedded, so that the storage medium can be installed more easily.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. First, an outline of the entire mobile vehicle guidance facility using the mobile vehicle guidance storage medium T of the present invention will be described. As shown in the simplified plan layout diagram of FIG. 2, a guide line L is laid in a loop along the traveling route of the moving vehicle A, and a plurality of moving lines for stopping the moving vehicle A and performing unloading work are loaded. Station ST is provided along the guide line L. Therefore, a transport facility for automatically transporting the mobile vehicle A between the stations ST to transport the load is configured.

I is provided at a point P where the guide line L curves, a branch point D, a junction J, a station ST, and the like.
A storage medium T, also called a D tag, is laid on the road surface,
Each storage medium T stores traveling control information such as traveling speed on a curve, address after branching, address after merging, distance to stop position at station ST, and the like. As the moving vehicle A approaches the laid location of the storage medium T, the mobile vehicle A performs close proximity wireless communication with the storage medium T by electromagnetic induction to read the traveling control information. Then, traveling control such as turning, branching, merging, and stopping is performed according to the information.

As shown in FIG. 3, the moving vehicle A is a traveling wheel which is driven and driven by a traveling motor 1 and is also steered by a steering motor 2 on the front side of the vehicle body. 3 is provided, and a pair of left and right driven wheels 4 is provided on the rear side of the vehicle body. A follow-up sensor 5 that detects the guide line L is provided on the front side of the traveling wheels 3. The guide line L
Is laid on a magnetic tape running road surface, and the follow-up sensor 5 is composed of a magnetic sensor.

At the front part on the right side of the vehicle body, there is provided a communication device 6 for communicating with the storage medium T embedded in the road surface. Further, as shown in FIG. 4, the drive device 7 for the traveling motor 1 and the steering motor 2 is controlled based on the traveling control information read from the storage medium T via the communication device 6 and the detection information of the follow-up sensor 5. The controller 8 is provided.

As shown in FIG. 4, the storage medium T includes a storage means 11 for storing traveling control information, a communication means 12 for exchanging information with the moving vehicle A, and a power supply battery 13. , And a case 14 for storing them. The storage unit 11 is composed of a rewritable semiconductor memory and can store the various traveling control information as described above.

Reading / writing of the storage means 11 can be performed without contact from an external device via the communication means 12. For example, the procedure by which the moving vehicle A communicates with the storage medium T using the communication device 6 and reads the stored information from the storage unit 11 is as follows. The moving vehicle A transmits a response request signal to the storage medium T at regular intervals during traveling.
On the other hand, the storage medium T is maintained in a state capable of receiving this response request signal.

Therefore, when the moving vehicle A approaches the installation location of the storage medium T and the transmission / reception coil 6a of the communication device 6 and the transmission / reception coil 12a of the communication means 12 are substantially opposed to each other, the storage medium T moves. It receives a response request signal from vehicle A and returns a response. In this way, when communication is established between the moving vehicle A and the storage medium T, the stored information in the storage medium T is read by the moving vehicle A.

The traveling memory information can be written in the storage medium T without contact from the moving vehicle A in the same manner as described above. However, it is also possible to write arbitrary information in the storage medium T using a portable dedicated terminal (not shown) having the same function as the communication device 6 of the mobile vehicle A. The storage means 11 is composed of a CMOS-RAM, and the stored information is held by the battery 13. Communication means 12 is also C
It is composed of a MOS-IC to save power.

As described above, once the storage medium T is installed on the traveling road surface, maintenance such as battery replacement is unnecessary for a long period of time, and the traveling pattern of the moving vehicle A can be changed by rewriting the stored information without contact from the outside. It is possible to easily respond to changes and the like.

As shown in the laying structure diagram of FIG. 1, the storage medium T is fixedly held in the holding frame 15 by an epoxy resin 16, and the bottomed base frame 17 is embedded in the road surface. It is fixed with an epoxy resin 18. The holding frame 15 is detachably attached to the base frame 17 in an internally fitted state.

In the figure, reference numeral 19 denotes an insertion anti-rotation material for anti-rotation and holding of the holding frame 15, and the insertion anti-rotation material 19 is provided with a tap hole 19a. Therefore, when removing the stopper member 19, the bolt is inserted into the tap hole 19a. Further, the holding frame 15 has tap holes 15a, 15b, 1
5c is provided, and when removing the holding frame 15,
The bolt holes are inserted into the tap holes 15a, 15b and 15c. In the figure, 20a and 20b are
It is a mark indicating the laying direction of the storage medium T.

Therefore, when laying the storage medium T on the road surface of the moving vehicle A, first, a circular kerf is formed at a predetermined position on the road surface by a drill having a cylindrical rotary blade, By cutting out the inside of the circumference, a cylindrical recess is formed on the road surface. Then, the base frame 17 is fixed with an epoxy resin 18 in the cylindrical concave portion, the holding frame 15 for holding the storage medium T is inserted into the base frame 17, and the insertion preventing member 19 is used. Fix it.

[Other Embodiments] The storage medium T of the above embodiment is not limited to the one used for guiding, for example, branching and stopping of the moving vehicle A that follows and travels along the guide line L as in the above embodiment. The line L may be used for guiding a moving vehicle that runs autonomously between storage media without being laid. Although the storage medium T of the above-described embodiment is configured to be operated by the built-in power supply battery 13, the received electromagnetic waves may be converted to operating power and operated by this power. . Although the holding frame 15 and the base frame 17 in the above-described embodiment are configured in a cylindrical shape, they need not necessarily be in a cylindrical shape, and various changes such as the shape and the laying structure can be made. For example, the holding frame 15 or the base frame. A mechanism for adjusting the height of the storage medium T may be provided in the frame 17 to adjust the height of the storage medium T with respect to the road surface. In the above-described embodiment, as shown in FIG. 1, the holding frame 15 for holding the storage medium T is detachably attached to the base frame 17 in an internal state, but as shown in FIG. The case 14 ′ forming the medium T may be directly attached to the base frame 17 ′ in a state of being internally detachable. 1 in the figure
Reference numeral 9'denotes a plug-in locking member for locking and holding the case 14 ', and the plug-in locking member 19' is provided with a tap hole 19a 'for removal.
Further, in the figure, 14a ', 14b', 14c 'are case 1
4'is a tap hole for removing from the base frame 17 '.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

[Fig. 1] Construction diagram of a storage medium for guiding a moving vehicle

[Fig. 2] Plan layout of transfer equipment

FIG. 3 is a plan view showing a schematic structure of a moving vehicle.

FIG. 4 is a side view showing communication between a moving vehicle and a storage medium.

FIG. 5 is a structural diagram of a storage medium for guiding a moving vehicle according to another embodiment.

[Explanation of symbols]

 11 storage means 12 communication means 14 case 17 base frame A moving vehicle T storage medium

Claims (2)

[Claims] 1. A storage means (11) for storing traveling control information of a moving vehicle, a communication means (12) for exchanging information with the moving vehicle (A), and a case (case) for storing them. 14) is a mobile vehicle guidance facility installed on the road surface corresponding to the travel route of the mobile vehicle (A), and the storage medium (T) is embedded in the road surface. A mobile vehicle guiding facility which is detachably mounted in a bottomed base frame (17). 2. The mobile vehicle guidance facility according to claim 1, wherein the outer shape of the base frame (17) is cylindrical.