Emergency stop system for vehicle body transport vehicle in vehicle factory

Abstract

To provide an emergency stop system of a vehicle body carrying vehicle in a vehicle factory for performing emergency stop by detecting an obstacle.SOLUTION: An emergency stop system for a vehicle body transport vehicle in a vehicle factory, the vehicle body transport vehicle being configured to transport a railway vehicle body mounted thereon by automatically traveling along a rail 15 laid in the railway vehicle factory, the vehicle body transport vehicle including a traveling motor configured to rotate a wheel 73 rolling on the rail 15, a vehicle control device configured to control driving of the traveling motor, and an obstacle detection sensor 75 configured to detect an obstacle ahead in a traveling direction, the vehicle control device being configured to stop the vehicle body transport vehicle in an emergency by controlling driving of the traveling motor based on a detection signal from the obstacle detection sensor 75.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present invention relates to a car body transport vehicle in a vehicle factory that carries a railway car body and automatically travels along rails, and to an emergency stop system for a car body transport vehicle in a vehicle factory that performs an emergency stop by detecting an obstacle during automatic travel. [Background technology]

[0002] In railway vehicle factories, railway car bodies that passengers ride on are manufactured separately from the bogies, or disassembled separately for inspection and repair. For example, an inspection and repair factory has multiple buildings, such as a dismantling yard, outfitting yard, repair yard, and painting yard, where each task is performed, and the railway car body must be moved between these buildings. In the inspection and repair factory, distribution rails that enter and exit designated buildings are laid, and the car body transport vehicles that move the railway car body are temporary bogies that directly load the car body, or transfer chassis (traversers) that load the temporary bogies. Both the temporary bogies and traversers are moved to designated positions along rails laid within the inspection and repair factory to transport the railway car body. Patent Document 1 listed below discloses a conventional example of a traverser in an inspection and repair factory.

[0003] The traverser is equipped with an independent travel motor on each wheel of each running rail, and can move to the desired location by controlling the drive of these. Specifically, the destination number is entered using a pendant, and the confirmation button and start button are pressed, causing the traverser to automatically travel. Near the stopping position, the deceleration area and stopping position are confirmed based on pulse signals from an encoder. In this way, movement along the rails within the factory is also performed on the same temporary bogie as the car body transport vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-130974 [Patent Document 2] Japanese Patent Publication No. 2024-033713 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in inspection and repair factories like the above-mentioned conventional example, many workers are required to transport railway car bodies, which has been a problem in recent labor shortages. For example, in the above-mentioned conventional example, workers must use a pendant to input numbers and press a confirmation button and a start button to automatically operate the traverser. Furthermore, the railway car bodies transported by the traverser are mounted on temporary bogies and move along the track within the factory, using the traverser to move toward the track ties. Although the temporary bogies also require operator operation, because multiple railway car bodies and the temporary bogies carrying them move between various locations within the large factory, many workers are required within the factory to transport the railway car bodies. On the other hand, reducing the number of workers would make it impossible to ensure the safety of the moving temporary bogies and traversers.

[0006] SUMMARY OF THE INVENTION In order to solve the above problems, an object of the present invention is to provide an emergency stop system for a vehicle body transport vehicle in a vehicle factory that detects an obstacle and performs an emergency stop. [Means for solving the problem]

[0007] The emergency stop system for car body transport vehicles in vehicle factories of the present invention is an emergency stop system for car body transport vehicles that transport loaded railway car bodies by automatically traveling along rails laid in a railway vehicle factory, and the car body transport vehicle has a running motor that imparts rotation to the wheels that roll on the rails, a vehicle control device that drives and controls the running motor, and an obstacle detection sensor that detects obstacles ahead in the direction of travel, and the vehicle control device brings the car body transport vehicle to an emergency stop by driving and controlling the running motor based on the detection signal of the obstacle detection sensor. [Effects of the Invention]

[0008] According to the above configuration, the car body transport vehicle automatically travels along rails laid in the railway vehicle factory, allowing the railway car body loaded on the car body transport vehicle to be transported, and if the obstacle detection sensor detects an obstacle ahead in the direction of travel during automatic travel, the vehicle control device receives the detection signal and can bring the car body transport vehicle to an emergency stop by controlling the drive of the traveling motor. [Brief explanation of the drawings]

[0009] [Figure 1] This diagram shows the distribution location in the center of the inspection and repair workshop where the two traversers move. [Figure 2] FIG. 1 is a simplified side view of a railway car body mounted on a temporary bogie. [Figure 3] FIG. 10 is a diagram showing a configuration for stopping the traverser relative to the distribution rail. [Figure 4] This is an image of three magnetic sensors detecting the magnetic field of the stopping magnet. [Figure 5] FIG. 1 is a conceptual diagram of an automatic transport system for railway car bodies. [Figure 6] FIG. 10 is a diagram showing a confirmation screen for the position and driving status of a body transport vehicle within an inspection and repair factory. [Figure 7] FIG. 10 is a diagram showing an operation status screen showing the operation status at one factory within an inspection and repair factory. [Figure 8] FIG. 10 is a diagram showing a screen during operation for setting the transportation of a railway car body. [Figure 9] FIG. 10 is a diagram showing a confirmation screen for a transportation route created based on a setting operation. [Figure 10] FIG. 10 is a plan view showing a temporary carriage equipped with an obstacle detection sensor. [Figure 11] This is an abnormality confirmation screen that notifies you of a possible abnormality. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of an emergency stop system for a car body guided vehicle in a vehicle factory according to the present invention will be described below with reference to the drawings. In this embodiment, a car body guided vehicle that transports railway car bodies in a railway car factory will be described as an example. In particular, a railway car factory is an inspection and repair factory in which work facilities are installed in various locations within each building to perform repairs, painting, etc. on railway car bodies from which the bogies for running of railway cars have been removed. Figure 1 is a diagram showing a sorting area in the center of such an inspection and repair factory where two traversers are located.

[0011] Two traverser running rails 11 are laid in the center of the inspection and repair factory 1, and a distribution area 10 is provided where two traversers 3 move. The inspection and repair factory 1 has multiple buildings on either side of the distribution area 10, and pairs of distribution rails 12 extending to the work facilities within the buildings are laid so as to be perpendicular to the traverser running rails 11. As shown in the figure, 20 sets of distribution rails 12 for entering and exiting each building are provided. In addition, entrance and exit rails 13 connecting to the main line are provided so that railway vehicles can enter and exit the inspection and repair factory 1. In this embodiment, when specifying the distribution rails 12 for transporting railway car bodies, etc., the suffix AT will be added to the reference numeral 12.

[0012] The traverser 3 is provided with traveling devices 22 that enable travel along the traverser traveling rails 11 on a rectangular car body 21 on which the railway car body 5 can be mounted. The two traveling devices 22 have the same configuration, with two traveling wheels 221 journaled and moving forward and backward along the traverser traveling rails 11, and one of the traveling wheels is connected to a traveling motor 222 via a gear. The two traveling devices 22 located at both ends in the longitudinal direction are connected to a vehicle control device 24, allowing for independent travel control of each other. In addition, the traverser 3 has two parallel loading rails 23 provided in the longitudinal direction on the top surface of the car body 21 for loading and unloading the railway car body 5.

[0013] When a railway vehicle enters the inspection and repair factory 1, it is disassembled into a railway car body 5 and a railway bogie, and the railway car body 5 can be moved within the factory using a temporary bogie. FIG. 2 is a side view showing a simplified view of the railway car body mounted on the temporary bogie. The temporary bogies 6 support the railway car body 5 at two locations, the front and the back. One of the two temporary bogies is a self-propelled driving vehicle equipped with a running motor 27, and the other is a driven vehicle without a running motor. The driving temporary bogie 6 has a running motor 27 that rotates the wheels 26, and a vehicle control device 28 is mounted on the car body frame 25, enabling travel control within the inspection and repair factory 1. Each temporary bogie 6 is also provided with an elevator 29 at the center of the car body frame 25, which holds the supported railway car body 5 so that it can be raised and lowered.

[0014] The railway car body 5 is transported to each work facility by a temporary bogie 6 in the inspection and repair factory 1, and along the way, the temporary bogie 6 is also loaded onto the traverser 3 for transport. An automatic transport system has been constructed in the inspection and repair factory 1, but the automatic transport of the railway car body 5 requires accurate stopping control of the running of the temporary bogie 6 and the traverser 3. This is because, in addition to accurately positioning the railway car body 5 with respect to the work facility, it is necessary to connect the loading rails 23 of the traverser 3 and the distribution rails 12 so that the wheels do not derail.

[0015] FIG. 3 is a diagram showing the configuration for stopping the traverser 3 relative to the distribution rail 12. Within the inspection and repair factory 1, as shown in the figure, a set of ID tags 31 and magnetic sensor-compatible stop magnets 32 are provided as stop control members at all positions where not only the traverser 3 but also the temporary bogie 6 carrying the railway car body 5 stops. The traverser 3 and the temporary bogie 6 can move in opposite directions. Here, movement in the direction of arrow X is explained, and in FIG. 3, the components corresponding to the same direction are distinguished by adding the symbol X to the end, and the components corresponding to movement in the opposite direction are distinguished by adding the symbol Y to the end.

[0016] The ID tags 31 and stopping magnets 32 are provided at multiple locations within the inspection and repair factory 1, particularly at locations where it is necessary to position the railway car body 5 being transported. The ID tags 31 provided at each of these locations store position information indicating the corresponding location within the inspection and repair factory 1. For example, in the sorting area 10 shown in Figures 1 and 3, the stopping position of the traverser 3 is a position corresponding to the sorting rails 12A-12T, and the position information of the ID tags 31 includes track number information that identifies the sorting rails 12A-12T.

[0017] On the other hand, the stopping position of the temporary carriage 6 is a work area provided within the station or a loading position on the traverser 3. For example, within the station, a work area is provided around the stopping position of an indoor rail extended from the distribution rail 12. The position information of the ID tag 31 provided at such a stopping position includes the work content at the specified station, related facility information, etc.

[0018] A set of ID tag 31 and stopping magnet 32 ​​is provided at each stopping position, with the ID tag 31 located on the front side and the stopping magnet 32 ​​located on the rear side when viewed in the direction of travel of the traverser 3 and temporary bogie 6. The distance between the ID tag 31 and the stopping magnet 32 ​​is set as a deceleration control section until the traverser 3 and temporary bogie 6 are stopped. The ID tag 31 triggers the deceleration of the traverser 3 and temporary bogie 6 so that they can be stopped by the stopping magnet 32. The traverser 3 and temporary bogie 6 normally travel at a speed of about 30 m / min, and when the corresponding ID tag 31 is read, their travel speed is decelerated, and they stop at a speed of about 5 m / min just before detecting the stopping magnet 32.

[0019] The traverser 3 is provided with a reader 33 that reads the position information of the ID tag 31 and a stop detector 34 that detects the magnetism of the stop magnet 32, and is connected to the vehicle control device 24. Similarly, the temporary driving bogie 6 is provided with a reader 33 and a stop detector 34, and is connected to the vehicle control device 28. The ID tag 31 is a so-called passive RFID tag, and a signal (electromagnetic wave) transmitted from an antenna by driving a control circuit of the reader 33 is received by an antenna on the ID tag 31 side. At this time, in the ID tag 31, the signal is converted to direct current by a rectifier circuit of the antenna, and the control circuit is driven by the generated power, and the position information stored in the memory is read by the reader 33.

[0020] The stop detector 34 is composed of multiple magnetic sensors that detect one stop magnet 32 ​​provided at the stop position. In this embodiment, as shown in Fig. 4, the stop detector 34 is composed of three magnetic sensors 341, 342, and 343. The three magnetic sensors 341, 342, and 343 are aligned in the traveling direction of the traverser 3 and are positioned so that all three can detect the stop magnet 32 ​​when the traverser 3 is at the correct stop position.

[0021] When a match in the position information is confirmed, the traverser 3 slows down and moves toward the stop detector 34 by performing a predetermined deceleration control on the traveling motor 222, and stops when the magnetic sensor 341 located at the front detects the stop magnet 32 ​​and stop control is applied, causing the traverser 3 to stop. At this time, as shown in Fig. 4(b), when the three magnetic sensors 341, 342, and 343 enter the magnetic field of the stop magnet 32, the vehicle control device 24 that has received the detection signal confirms that all of them are ON, ON, ON, and determines that the detection signal matches the stop position Z of the traverser 3 and the temporary bogie 6 (including the allowable error).

[0022] On the other hand, as shown in FIG. 4(a), when the detection statuses of the magnetic sensors 341, 342, and 343 are ON, ON, and OFF, the vehicle control device 24 determines that the vehicle has stopped before the stop position Z. Conversely, when the detection statuses are OFF, ON, and ON, the vehicle control device 24 determines that the vehicle has stopped beyond the stop position Z. Therefore, if one or more of the three magnetic sensors 341, 342, and 343 are OFF, the vehicle control device 24 adjusts the position by controlling the drive of the travel motor 222 to correct the deviation m so that the detection status becomes as shown in FIG. 4(b). Note that the stop magnet 32 ​​is installed on the uneven factory floor, but the stop detector 34 is required to detect at a certain distance. For this reason, the stop detector 34 is attached to a caster block, for example, and is biased toward the floor by a spring.

[0023] Next, Fig. 5 is an image diagram of an automatic transport system for railway car bodies. The automatic transport system of this embodiment is capable of communicating information between a general control device 7 configured using a computer and all of the car body transport vehicles, namely, the traversers 3 and the temporary bogies 6 for driving, that move within the inspection and repair factory 1. The general control device 7 and all of the traversers 3 and temporary bogies 6 (hereinafter collectively referred to as "car body transport vehicles (3, 6)") are equipped with wireless communication devices, and travel commands are sent from the general control device 7 to each car body transport vehicle (3, 6), and conversely, travel information is sent from the car body transport vehicles (3, 6) to the general control device 7.

[0024] The multiple body transport vehicles (3, 6) move within the spacious inspection and repair factory 1, and transporting items in buildings other than the building where the comprehensive management device 7 is installed is also performed. For this reason, wireless APs (access points) are installed at various locations in the automated transport system to ensure proper wireless communication. In addition, in wireless communication, the received signal level and noise level are important values ​​in determining the communication status and communication environment. Therefore, in this embodiment, the access points are installed so that the signal-to-noise ratio (SNR = signal strength - noise level) exceeds 15 from any location within the factory. For example, for communication between factories in different buildings, access points are installed near windows facing each other.

[0025] The automatic transport system is provided with a portable operation terminal 8 as a user interface connecting the general control device 7 and the worker. The operation terminal 8 stores a transport setting program that allows the worker to check the situation within the factory and set the transport settings for the railway car body 5 through touch operations. The general control device 7 collects position information within the inspection and repair factory 1 for all car body transport vehicles (3, 6) based on information from the ID tags 31. In particular, the operation terminal 8 is capable of wireless communication with the general control device 7, and the operation screen for the transport setting program is created by using the position information acquired for the car body transport vehicles (3, 6).

[0026] 6 to 9 are diagrams showing the screen of the operation terminal 8. First, Fig. 6 schematically shows a confirmation screen 41 showing the positions and running status of the traverser 3 and temporary bogie 6, which are car body transport vehicles in the inspection and repair factory 1. The confirmation screen 41 shows frames indicating a first factory 51, a second factory 52, and a third factory 53, which are divided into multiple buildings in the inspection and repair factory 1, an oval temporary bogie mark 55 indicating the stopping position of the temporary bogie 6 in each factory, and a square traverser mark 56 indicating the traverser 3 connecting each factory. Note that the traverser mark 56 indicates the positional relationship of movement and does not match the actual number of vehicles.

[0027] The temporary carriage marks 55 indicate the positions where the temporary carriages 6 can stop. They are arranged vertically and horizontally within each factory frame, but the direction of movement is horizontal. For example, the second factory 52 has four sets of running rails, each with four stopping positions. The four stopping positions are work positions equipped with work equipment, as well as waiting positions for work. The second factory 52 has a total of 16 such stopping positions, each equipped with an ID tag 31 and a stopping magnet 32, similar to the stopping positions of the traverser 3 described using Figure 3. The same applies to the first factory 51 and the third factory 53.

[0028] The temporary bogie marks 55 are distinguished by the display method shown in the explanation box 54 on the confirmation screen 41 so that the actual situation can be understood. The explanation box 54 displays, from top to bottom, "empty," which indicates that no temporary bogie 6 is present at the stop position; "on track," which indicates that the temporary bogie 6 is stopped at the stop position; "in motion," which indicates that the temporary bogie 6 has passed the position and is in motion; and "candidate location for transfer," which indicates that the moving temporary bogie 6 is heading for its destination. Regarding the traverser 3, a black arrow indicates that it is "in motion" in a predetermined direction. Therefore, from the confirmation screen 41 shown in FIG. 6 , for example, it can be seen that there are three temporary bogies 6 (which should be referred to as "sets" because they include their driving and driven cars, but will be referred to as "units" for convenience in this specification) currently on the track, each carrying a railway car body 5, and one temporary bogie 6 moving toward the candidate location, within the second factory 52.

[0029] The confirmation screen 41 shown in Fig. 6 changes to the operation status screen shown in Fig. 7 by touching the frame of each factory. On this screen, the temporary bogie mark 57 changes to a square, and a running mark 58 with an arrow indicating the running direction is added. For example, 27 temporary driving bogies 6 exist in the inspection and repair factory 1, and information management is performed in the general management device 7 based on the numbers assigned to each of them. Based on this information, the operation status screen 42 displays the numbers of each temporary bogie 6 present in the second factory 52 on the temporary bogie mark 57.

[0030] For temporary bogies 6 that are stopped, the numbers NO12, NO20, and NO27 are displayed superimposed on the "On Track" display, and for temporary bogies 6 that are moving, the number NO4 is displayed superimposed on the "Moving" display. However, for temporary bogies 6 that are moving, the number NO4 is also displayed superimposed on the "Possible Moving Location" display, and temporary bogies 6 that are "Moving" are displayed with the number NO(4) in parentheses. Furthermore, the running mark 58 located in front of the temporary bogie mark 57 that displays the number NO(4) flashes, indicating that the temporary bogie 6 is moving.

[0031] The transport setting of the railway car body 5 mounted on the temporary bogie 6 can be performed on the operation status screen 42 shown in FIG. 7. First, by touching the temporary bogie mark 57 "on track" displayed on the operation status screen 42, the movement of the corresponding temporary bogie 6, i.e., the transport setting of the loaded railway car body 5, can be started. For example, as shown in FIG. 8, when the temporary bogie mark 57 of No. 20 is touched, the mark changes to the "moving" display similar to No. (4) and starts flashing. This identifies the target of the transport setting, and information on the actual temporary bogie 6 is displayed as a pop-up on the temporary bogie mark 57, as shown in the figure.

[0032] The information in the pop-up display 61 includes the number assigned to the temporary driving bogie 6, the track number assigned to the rail that is the current position within the factory, the status (e.g., whether the vehicle is simply stopped or undergoing work), whether there are any abnormalities, and the vehicle number of the railway car body 5 on which it is mounted. If the object of transportation can be confirmed based on this information, the destination of transportation is then set. On the other hand, if the object of transportation is incorrect, the setting operation can be canceled by touching the flashing temporary bogie mark 57 of No. 20 again, and the temporary bogie mark 57 will return to the original display of "on track" as shown in Figure 7.

[0033] If the transfer setting is to be continued, the transfer destination is set by touching the temporary cart mark 57 corresponding to the transfer destination. As shown in the figure, when the temporary cart mark 57 corresponding to the third factory 53 is touched, the mark flashes to indicate "candidate transfer location," and the travel mark 58, which is an arrow indicating entry into that stop position, also flashes. In this case, too, by touching the flashing temporary cart mark 57 again, the setting of this stop position as the transfer destination is canceled, and the temporary cart mark 57 returns to its original display.

[0034] After the target temporary bogie 6 and its transport destination have been determined in the above manner, pressing the execute button 62 sends these conditions to the general control device 7. In the general control device 7, a transport route for temporary bogie No. 20 6 is created based on the position information of the other body transport vehicles (3, 6) in the inspection and repair factory 1. Then, on the operation terminal 8 to which the transport route information has been sent, a pop-up display 63 shown in FIG. 9 appears on the operation status screen 42. The pop-up display 63 displays a guide message, the transport route, and operation buttons. The transport route displays the departure point, destination, and the use of a traverser (TRV) 3.

[0035] When the execute button 65 is pressed, the transport settings are finalized, the pop-up display 63 disappears, and the screen returns to the operation status screen 42 shown in FIG. 7, where transport of the railway car body 5 on the temporary bogie 6 No. 20 begins. The transport of the railway car body 5 is carried out by a travel control command from the comprehensive management device 7 to the traverser 3 and the temporary bogie 6. Note that the temporary bogie mark 55 No. 20 stops flashing and displays "in motion," and the temporary bogie mark 57 of the transport destination in the third factory 53 also stops flashing and displays "candidate transport location." On the other hand, when the cancel button 66 is pressed, the pop-up display 63 disappears on the operation terminal 8, and the screen returns to the confirmation screen 41 shown in FIG. 6.

[0036] Incidentally, in the inspection and repair factory 1, many workers also work near the automatically traveling traversers 3 and temporary bogies 6. Conventionally, workers operated the travers and other devices by pendant operation, which allowed the workers to avoid contact. In this respect, even in this embodiment in which the traversers 3 and temporary bogies 6 are automatically traveling, it is necessary to avoid contact with workers and the like. However, because there are many automatically traveling traversers 3 and temporary bogies 6 in the inspection and repair factory 1, if humans were to monitor their traveling, the effect of automation would be lost. Therefore, in this embodiment, the temporary bogies 6 and traversers 3 are equipped with emergency stop systems.

[0037] FIG. 10 is a plan view showing the temporary bogie 6. The temporary bogie 6 is composed of an H-shaped bogie frame 71 in which two side beams 711 that are parallel to each other along the rails 15 are connected by a cross beam 712. The bogie frame 71 has two axles 72 supported by the left and right side beams 711, and the axles 72 are provided with wheels 73 that roll on the rails 15 so as to be positioned at the front, rear, left and right of the bogie. If the temporary bogie 6 is a driving vehicle, it is equipped with a running motor (not shown), and the rotation of the motor is transmitted to one of the axles 72, enabling automatic running. Since the temporary bogie 6 may run on the front side, not only as a driving vehicle but also as a driven vehicle, the temporary bogie 6 is equipped with an obstacle detection sensor 75 that detects objects ahead.

[0038] The obstacle detection sensor 75 is, for example, a two-dimensional laser scanner that sequentially emits multiple laser beams radially and receives reflected light (reflected waves) from a person, obstacle, or the like (hereinafter collectively referred to as "obstacle") that exists ahead. In the case of the temporary bogie 6, a detection area 76 is set to a roughly sector-shaped range as shown in the figure, determined by a predetermined distance and angle. The detection area 76 is set to detect the area from the underside of the railway car body 5 on which it is mounted to the front side in the direction of travel in accordance with the width of the car body. Because the railway car body 5 is located ahead of the temporary bogie 6, the obstacle detection sensor 75 is fixed to the side beam 711 at the leading end in the direction of travel so as to be able to detect what is ahead. However, the mounting location is not particularly limited, and the sensor may be mounted at any position using a bracket.

[0039] The temporary bogie 6 is equipped with a travel motor 27 and a vehicle control device 28 shown in Fig. 2 on the driving vehicle side, and the vehicle control device 28 performs emergency stop control to stop the drive of the travel motor 27 in response to a detection signal from an obstacle detection sensor 75. On the other hand, when the temporary bogie 6 of the driven vehicle is positioned ahead in the direction of travel, it is configured to be able to communicate wirelessly with the driving vehicle side, and when an obstacle is detected by the obstacle detection sensor 75 on the driven vehicle side, emergency stop control is performed in the temporary bogie 6 on the driving vehicle side based on the detection signal. Also, although not shown in detail, a plurality of obstacle detection sensors 75 are attached to the traverser 3, and when an obstacle positioned in the traveling direction is detected, the detection signal causes the vehicle control device 24 to perform emergency stop control to stop the drive of the travel motor 222.

[0040] If the traverser 3 and the provisional bogie 6 are forced to stop due to detection by the obstacle detection sensor 75 while they are automatically traveling, it is necessary to confirm the situation. Therefore, in the event of an emergency stop, an emergency stop signal is transmitted from the traverser 3 and the provisional bogie 6 to the general control device 7, and the general control device 7 then transmits emergency stop information to the operation terminal 8. The emergency stop information includes information that a specific numbered car body guided vehicle (3, 6) has made an emergency stop, as well as the latest location information of the ID tag 31 read by the reader 33. Based on the emergency stop information, a pop-up display 64 shown in FIG. 11 appears on the operation status screen 42 of the operation terminal 8. The abnormality information displayed in the pop-up display 64 includes stop position information based on the car body number and track number information for the traverser 3 and the provisional bogie 6, as well as "emergency stop" indicating a forced stop. Therefore, a worker with the operation terminal 8 can immediately go to the site based on this information and begin recovery work.

[0041] Therefore, in this embodiment, the traverser 3 and temporary bogie 6, which are car body transport vehicles, can automatically travel along rails within the inspection and repair factory 1, and can make an emergency stop when the obstacle detection sensor 75 detects a person or the like while traveling. All traversers 3 and temporary bogies 6 within the inspection and repair factory 1 are wirelessly connected to the general control device 7, and in the event of an emergency stop, information is sent from the general control device 7 to the operation terminal 8, allowing workers to immediately check the situation. Since the operation terminal 8 displays abnormality information such as the car body number and stopping position information, workers can head to the emergency stop site without getting lost even within the large inspection and repair factory 1.

[0042] Although one embodiment of the present invention has been described above, the present invention is not limited to this and various modifications are possible without departing from the spirit of the present invention. In the above embodiment, a laser scanner is used as an example of an obstacle detection sensor, but the sensor is not limited to laser light, and may be a sensor that uses infrared rays or ultrasonic waves. [Explanation of symbols]

[0043] 1...Inspection and repair shop 3...Traverser 5...Railway car body 6...Temporary bogie 7...General management device 8...Operation terminal 24, 28...Vehicle control device 27, 222...Travel motor 31...ID tag 32...Stop magnet 33...Reader 34...Stop detector 41...Confirmation screen 42...Operation status screen 75...Obstacle detection sensor

Claims

1. This is an emergency stop system for a car body transport vehicle that automatically travels along rails laid in a railway vehicle factory to transport the loaded railway car body. the vehicle body transport vehicle has a travel motor that rotates the wheels that roll on the rails, a vehicle control device that drives and controls the travel motor, and an obstacle detection sensor that detects obstacles ahead in the traveling direction, The vehicle control device controls the drive of the travel motor based on the detection signal from the obstacle detection sensor to bring the vehicle to an emergency stop, thereby providing an emergency stop system for a vehicle body transport vehicle in a vehicle factory.

2. a comprehensive control device capable of wireless communication with the plurality of car body transport vehicles that automatically travel within the railway vehicle factory; and an operation terminal capable of wireless communication with the comprehensive control device, 2. An emergency stop system for a body transport vehicle in a vehicle factory as described in claim 1, wherein, in the event of an emergency stop of the body transport vehicle, an emergency stop signal is sent from the corresponding body transport vehicle to the general control device, and an abnormality is displayed on the screen of the operation terminal to which the emergency stop information is sent from the general control device.

3. the car body transport vehicle is controlled to stop by reading an ID tag that stores position information for identifying a stopping position installed in the railway vehicle factory, the integrated management device stores position information relating to all stopping positions in the railway vehicle factory, and controls the travel of the car body transport vehicle along a set transport route while acquiring position information of the ID tag read by a reading means provided on the car body transport vehicle, 3. An emergency stop system for a vehicle body transport vehicle in a vehicle factory as described in claim 2, wherein the emergency stop information includes location information of the ID tag read by the reading means, and the location information is displayed on the abnormality display screen of the operation terminal.

Images