A simple carriage vehicle carrying a full load is always in danger of colliding with an obstacle due to poor forward visibility. As a solution to this problem, a human-guided vehicle system (HGVS) which enables the vehicle to follow the track of a person proceeding ahead of it, was proposed. We describe the safety control system for such HGVS based on the safety logic to prevent the vehicle from colliding with the guide. This system consists of a means of safety confirmation and a chasing control system. Safety confirmation can stop the tracking operation in the case of failure in confirming the preset adequate distance from the guide. On the other hand, by maintaining the preset adequate distance, the chasing control system can avoid the cessation of operation. This system is realized by the unique utilization of reflecting infrared sensors which are fail-safe in detecting the distance from the guide. The tracking operation of the HGVS installed with this safety control system has experimentally been proven safe.
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