CN1111832C - Apparatus for preventing rear-end collision of movable body - Google Patents

Abstract

The invention relates to a rear-end collision prevention device for a mobile body. The transmission line part of the sending end formed by an extended coaxial cable is arranged on the first side of two adjacent closed sections of the passageway, and the transmission line part of the sending end is arranged on the second side. There is a receiving end transmission line part formed by the extension of the coaxial cable. When the signal sent by the preceding moving body to the coaxial cable transmission circuit in the closed section on the first side is received by the trailing moving body located in the closed section on the second side When it is received, the backward moving body is stopped.

Description

Anti-collision device for mobile body

The present invention relates to a device for preventing rear-end collision of a preceding moving body by a following moving body when a large number of moving bodies such as trams and unmanned vehicles pass by.

In the past, in order to prevent a large number of unmanned delivery vehicles from colliding with each other, especially rear-end collisions on the same road, so that they can run safely, the widely used method is to separate the unmanned delivery vehicles from a predetermined distance. Closed operation mode . The closed operation mode is to continuously set a large number of sections with a certain length, that is, closed sections, along the traffic road. In principle, only one unmanned transport vehicle is allowed to exist in a closed section.

Regarding this kind of closed operation mode, various methods have been proposed in the past, and they all use electromagnetic waves, light, ultrasonic waves, etc. as signal transmission media.

However, this kind of signal transmission medium has its own advantages and disadvantages. In the case of using electromagnetic waves, not only is it easy to cause mutual interference, sometimes there are places where electromagnetic waves cannot reach, and no matter whether centralized control or decentralized control is adopted, each method requires equipment. Cause equipment large-scale, complicated. In the case of using ultrasonic waves, the interference from the surrounding environment is easy to enter, not only the communication range is small, but also it is not easy to deal with curves and level crossings, and the unmanned transport vehicle moving behind is easy to set the unmanned transport vehicle ahead of the traffic All kinds of equipment near the road misrecognize each other, all of which are its shortcomings.

The present invention is proposed to solve the above-mentioned shortcomings, and its purpose is to provide a rear-end collision prevention device for a mobile body, which not only has simple equipment, but also has low construction costs, and does not require power failure, and has high reliability.

According to the rear-end collision prevention device of the moving body of the present invention, a large number of moving bodies pass on the passageway divided into a plurality of closed sections longer than the length of the moving body, so that the following moving body following the preceding moving body The device for stopping the preceding moving body with at least a distance equivalent to the closed section, and preventing the trailing moving body from rear-ending the preceding moving body includes a plurality of coaxial cable transmission circuits arranged along the passageway; wherein : the coaxial cable transmission circuit is equipped with: a transmitting end transmission line part, which is formed by extending the coaxial cable, and is located in the closed section on the front side of the moving direction of the moving body among the adjacent closed sections, And it is arranged on one side of the width direction intersecting with the traveling direction of the passageway; the receiving part is the transmission line part, which is formed by extending the coaxial cable, and is arranged in a closed section located on the rear side of the traveling direction, And it is arranged on the other side of the width direction of the passage; and the connecting transmission line part is formed by extending the coaxial cable, and it is arranged along the boundary part of the two closed sections and in the direction of crossing the passage, in the said The ends of the transmission coaxial cable at the transmitting end and the transmission coaxial cable at the receiving end are respectively connected with terminators; and each mobile body is equipped with: a transmitting antenna, which transmits a signal of a predetermined frequency to the transmission circuit of each coaxial cable transmission circuit. The transmission line part at the end; the receiving antenna is used to receive the signal of the predetermined frequency sent by the preceding mobile body from the transmission line part of the receiving end of each coaxial cable transmission circuit; and when the receiving antenna receives the signal of the predetermined frequency A device to stop the moving body.

Therefore, when the preceding mobile body exists in a closed section, a signal of a predetermined frequency is sent from the predetermined frequency of the preceding mobile body to the transmission line part of the transmitting end, and the signal is transmitted to the closed section extending through the connecting transmission line part. The receiving end transmission line part of the same coaxial cable transmission circuit in a closed area in front of the front, when the backward moving body enters a closed area in front, the receiving antenna receives the signal of the fixed frequency, and the backward moving body can be identified in the There is a preceding moving object in the transmission line portion at the receiving end ahead, and necessary measures to prevent rear-end collisions can be taken.

The device for preventing rear-end collision of a moving body of the present invention is characterized in that the device for stopping the moving body is equipped with: a device for sensing the receiving output voltage of the receiving antenna; and comparing the sensed receiving output voltage with a reference value In comparison, when the received output voltage exceeds the reference value, a device for outputting a signal to stop the moving body.

Therefore, when the reception output voltage received by the receiving antenna of the following moving body exceeds the reference value, the moving body can be stopped by the moving body stop signal output device, thereby reliably preventing rear-end collisions.

The foregoing and other objects and novel features of the present invention will be described in detail with reference to the accompanying drawings.

Fig. 1 is a schematic plan view of an unmanned transport vehicle of the rear-end collision prevention device for mobile bodies according to the present invention.

Fig. 2 is a schematic sectional view along line II-II of Fig. 1 .

FIG. 3 is a schematic view showing the configuration state of the coaxial cable transmission circuit according to the present invention.

FIG. 4 is an enlarged view of FIG. 3 .

FIG. 1 is a schematic plan view showing a rear-end collision prevention device for an unmanned guided vehicle to which the present invention is applied. Fig. 2 is a schematic sectional view along line II-II of Fig. 1 . Fig. 3 is an explanatory diagram showing the arrangement state of coaxial cable transmission circuits L _1,2 to L _{n-1,n buried} in a zigzag shape when viewed from the plane along the passageway, 1 in the figure is the passageway, 2 is an unmanned delivery vehicle.

In the passageway 1, along its extension direction, there are closed sections N ₁ to N _n set at a predetermined distance L _o (refer to FIG. 4 ), which is longer than the full length of the unmanned guided vehicle 2. Coaxial cable transmission circuits L _1,2 to L _{n-1,n are} arranged at a distance L ₀ of intervals N ₁ to N n , and each coaxial cable transmission circuit spans two adjacent closed intervals N _i and N _j In each section, the shapes and arrangement states of the coaxial cable transmission circuits L _1,2 to L _n-1,n are the same. Next, the coaxial cable transmission circuit L _{i, j} arranged across the adjacent closed sections N _i and N _j along the traveling direction of the unmanned guided vehicle 2 will be described.

Fig. 4 is an enlarged plan view of the coaxial cable transmission circuit L _{i, j} arranged across the closed intervals N _i and N _j , and the coaxial cable transmission circuit with the coaxial cable diameter d ₁ is separated by a predetermined interval d ₂ so that its line part Extending parallel to each other, a sending end transmission line part 11 having a distance _L0 of each closed section _N1 to _Nn is provided on one end thereof, and a receiving end transmission 12 having a distance L0 of a distance _L0 is provided on the other end side thereof, and at both ends Between them, a connecting transmission line portion 13 is provided with a gap between the line portions. Moreover, the terminators 14 are respectively connected to the ends of the transmission line part 11 at the sending end and the transmission line part 12 at the receiving end.

The connecting transmission line part 13 is arranged along the boundary part _of the closed section N _i and N _j toward the width direction of the passageway 1, and the sending end transmission line part 11 is along the unmanned transport vehicle 2 in the passageway 1 of the closed section Nj The direction of travel extends from the left side to the vicinity of the next closed interval N _j+1 ; and the receiving end transmission line part 12 is in the passageway 1 of the closed interval N _i , along its right side, at the transmission line with the aforementioned sending end The parts 11 are extended to the vicinity of the previous closed section N _i-1 with the parallel distance _d2 between them, and are arranged on the road surface of the passageway 1 respectively.

Between the adjacent coaxial cable transmission circuits L _{i, j} and L _{j, j+1} , there is a distance d between the transmission line parts 11, 11 at the sending end and the transmission line parts 12, 12 at the receiving end. ₃ . The distances d ₂ and d ₃ are appropriately set so that signal interference does not occur between them.

On the other hand, as shown in Fig. 1 and Fig. 2, the unmanned transport vehicle 2 is provided with drive wheels 21h and 21r for steering respectively on the left and right sides of the vehicle body 20 in the direction of travel, and has play wheels 21h and 21r at the front and rear. The driving wheels 22, 22, and the aforementioned driving wheels 21h, 21r are connected to independent driving motors Mh, Mr. The forward rotation of the two drive motors Mh, Mr is forward, the reverse rotation is reverse, and the steering is performed using the rotational speed difference of the two drive motors Mh, Mr. 23 is the traffic drive control part of the unmanned transport vehicle.

Near the front of the vehicle body 20 , a transmitting antenna 24 is provided on the left bottom surface, and a receiving antenna 25 is provided on the right bottom surface. In the state where the unmanned guided vehicle 2 passes on the central line of the passageway 1 _, as _shown in FIG. Sections 11 face each other at a distance _d4 , and receiving antennas 25 face each other at a distance _d4 above the transmission line part 12 at the receiving end of the coaxial cable transmission circuits _L1,2 - _Ln,n+1 . As long as this interval _d4 is between the transmitting antenna 24 and the transmitting end transmission line part 11 and between the receiving antenna 25 and the receiving end transmission line part 12, the interval of signal transmission and reception can be completed, and the transmitting antenna 24 and the transmitting end transmission line part 11 and between the receiving antenna 25 and the transmission line part 12 at the receiving end do not have to be aligned.

The vehicle body 20 is equipped with a transmitter 26 connected to the transmitting antenna 24 for transmitting a signal of a predetermined frequency f, and a receiver 27 connected to the receiving antenna 25 for receiving a signal of a predetermined frequency f. The receiver 27 is connected with a voltage sensor 28 for sensing its received output voltage.

The output signal of this voltage sensor 28 is output to the traffic drive control section 23 .

The voltage sensor 28 is equipped with a comparison circuit (not shown) for comparing the sensed received output voltage with a predetermined reference value, and does not output the received output voltage when the received output voltage does not exceed the reference value, and once the received output voltage exceeds the reference value The value is to output a signal to stop the traffic to the traffic drive control unit. The aforementioned reference value is mainly set to a value that does not cause misunderstanding between noise and the like and the aforementioned predetermined frequency f signal. In addition, instead of the comparison circuit, a bandpass filter or the like that only leaves signals around a predetermined frequency f may be used.

Next, the operation of the apparatus of the present invention will be described.

As shown in Figure 3, it is assumed that there are three unmanned guided vehicles F _a , F _b , and F _c respectively existing in the closed intervals N _j , N _i , and N ₂ , respectively passing in the direction of the arrows, or about to pass. In this state, from each transmitting antenna 24 of the unmanned guided vehicle F _a , F _b , F _c to the transmitting end transmission line part 11 of the coaxial cable transmission circuit L _i,j , L _i-1 , L _1,2 Signals with a given frequency f are sent respectively.

On the other hand, the receiving antenna 25 of the unmanned guided vehicle F _a , F _h , F _c is opposite to the receiving end transmission line part 12 of the coaxial cable transmission circuit L _{j, j+1} , L _{i, j} , L _2,3 , it becomes a state where a signal of frequency f can be received. From the unmanned transport vehicle F _a to the coaxial cable transmission circuit L _i, the signal of frequency f sent by the transmission line part 11 of the sending end of the coaxial cable transmission circuit L is transmitted to the coaxial cable transmission circuit located in the closed area Ni via the connecting transmission line part 13 The transmission line part 12 at the receiving end of L _{i, j} is captured by the receiving antenna 25 of the unmanned guided vehicle F _b opposite to it, and is received by the receiver 27 and the received output voltage is sensed by the voltage sensor 28 . The output signal of the receiver 27 is output to the voltage sensor 28, and when the voltage sensor 28 receives the reference value that the output voltage exceeds a predetermined reference value, the unmanned guided vehicle F _b thinks that there is a preceding one in the closed interval N _j The situation of unmanned delivery vehicle F _a .

In this way, the unmanned transported vehicle F _b moving backward promptly implements the control to stop the motors Mh and Mr with its passing drive control part 23, and the unmanned transported vehicle F _a stops on the closed section N _i , so that it can be prevented from The rear-end collision of the leading unmanned delivery vehicle F _a . When the unmanned guided vehicle F _b stops, the inter-vehicle distance between the unmanned guided vehicles F _a and F _b depends on the current position of the unmanned guided vehicle F _a , the shortest is L ₀ , and the longest is 2L.

On the other hand, there are no other unmanned vehicles on the receiving end transmission line part 12 of the coaxial cable transmission circuit L ₂ relative to the receiving antenna 25 in the closed section of the unmanned vehicle _Fc , so no one is transporting Car F _c keeps going because it does not receive the signal of frequency f.

In the above-mentioned embodiment, although the frequencies of the signals transmitted from the transmitting antennas 24 of the unmanned guided vehicles _Fa , _Fb , and _Fc are all described as f, it is not limited to this, and each unmanned guided vehicle can of course be Send and receive signals of different frequencies respectively.

Although the above is described in the case that the distances of the closed intervals N ₁ -N _n are all L ₀ , different distances may also be used.

In the above-mentioned embodiment, although the case of the unmanned transport vehicle was described as an object, it is not limited thereto, and it can also be applied to a train or the like.

As mentioned above, in the device of the present invention, the transmission line part of the sending end of the coaxial cable transmission circuit is arranged in one of the two adjacent closed sections set in the passageway, and the transmission line part of the coaxial cable transmission circuit is arranged in the other closed section. Equipped with a transmission line part at the receiving end, the transmission signal sent by the preceding mobile body to the coaxial cable transmission circuit at one transmission line part at the receiving end is received by the moving body at the other receiving end transmission line part and can be correctly transmitted. To confirm the existence of the moving body in advance, as for the equipment, it is only necessary to lay out the coaxial cable transmission circuit, and a simple structure can be used, even if there is a power failure, it will not be affected in any way, and it can accurately prevent rear-end collisions without noise interference, etc. All are the superior effect that the present invention has.

Above, the implementation states or embodiments described in the detailed description of the present invention, etc., aim to clarify the technical content of the present invention, and the present invention is not limited to such specific examples and interpreted in a narrow sense. Within the spirit of the invention and the scope described in the claims, various changes can still be made and implemented.

Claims (2)

1, a kind of apparatus for preventing rear-end collision of moving body, there are a plurality of moving bodys current on it on the current road that is distinguished into a plurality of closed intervals longer than the length of moving body, make the successive displacing body of following the moving body of going ahead of the rest and should go ahead of the rest and stop across the distance that is equivalent to this closed interval at least between moving body, to prevent successive displacing body to the knocking into the back of this moving body of going ahead of the rest, this device is along disposing a plurality of transfer circuits in current road;

Wherein:

This transfer circuit has: transmitting terminal conveyer line part, stretch and form by concentric cable, be located at the closed interval of the front side of the current direction that is positioned at this moving body in this adjacent closed interval, and be disposed at and the amesiality part of Width that should current direction intersects on current road; Receiving end conveyer line part is stretched and is formed by concentric cable, is located at the closed interval that is positioned at this current direction rear side, and is disposed at the Width deflection opposite side place on current road; And connect the conveyer line part, and stretch and form by concentric cable, be configured in along the boundary member of this two closed interval and the direction on cross-section current road; The end of transmitting concentric cable and receiving end transmission concentric cable at described transmitting terminal is connected with terminal organ respectively; And

Respectively this moving body has respectively: transmitting antenna is sent to the signal of promptly deciding frequency the transmitting terminal conveyer line part of this each concentric cable transfer circuit; Receiving antenna is in order to receive the signal by the set frequency that moving body sent of going ahead of the rest from the receiving end conveyer line part of this each concentric cable transfer circuit; And when receiving the signal of set frequency, this receiving antenna uses so that the device that this moving body stops.

2, the apparatus for preventing rear-end collision of moving body as claimed in claim 1, wherein, with so that the device that this moving body stops to comprise: in order to the device of the reception output voltage of this receiving antenna of sensing; And the reception output voltage of institute's sensing is compared with reference value, and when receiving output voltage and pass through reference value, make the device of the signal that this moving body stops in order to output.

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