KR940005269B1 - Control method of unmanned cart in meeting point - Google Patents

Control method of unmanned cart in meeting point Download PDF

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Publication number
KR940005269B1
KR940005269B1 KR1019910025544A KR910025544A KR940005269B1 KR 940005269 B1 KR940005269 B1 KR 940005269B1 KR 1019910025544 A KR1019910025544 A KR 1019910025544A KR 910025544 A KR910025544 A KR 910025544A KR 940005269 B1 KR940005269 B1 KR 940005269B1
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South Korea
Prior art keywords
unmanned
vehicle
unmanned vehicle
receiving
control method
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KR1019910025544A
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Korean (ko)
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KR930012436A (en
Inventor
전용철
안상진
신제호
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대우중공업 주식회사
이경훈
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Priority to KR1019910025544A priority Critical patent/KR940005269B1/en
Publication of KR930012436A publication Critical patent/KR930012436A/en
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Publication of KR940005269B1 publication Critical patent/KR940005269B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/40—Adaptation of control equipment on vehicle for remote actuation from a stationary place

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Disclosed is a method for controlling a joining point of unmanned carrier vehicles by mounting a receiving ultrasonic sensor on a side of the vehicle and a transmitting ultrasonic sensor on the other side of the vehicle, thereby preventing the manless vehicle shifting through each pathway from running into each other at the joining point.

Description

무인 운반차의 합류점 제어방법Control point of confluence of unmanned truck

제1도는 본 발명의 센서장착 위치를 나타낸 정면도.1 is a front view showing a sensor mounting position of the present invention.

제2도는 본 발명의 작동상태 평면도.2 is a plan view of the operating state of the present invention.

*도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

1 : 무인운반차 2 : 상대무인운반차1: unmanned vehicle 2: unmanned vehicle

S3,S4: 무인운반차 측면의 수신 및 발신 초음파센서S 3 , S 4 : Ultrasonic sensor for receiving and transmitting on the side of unmanned vehicle

본 발명은 두 개 이상의 무인운반차 통로가 모아지는 지점에서 각 통로를 통해 이동하는 무인운반차의 상호충돌을 방지하기 위한 무인운반차의 합류점 제어방법에 관한 것으로, 특히 단방향 이동성 무인운반차에 적용되어 고신뢰성을 부여할수 있게 한 것이다.The present invention relates to a method of controlling a confluence point of an unmanned transport vehicle to prevent mutual collision of the unmanned transport vehicle moving through each passage at a point where two or more unmanned transport passages are collected, and in particular, applied to a unidirectional mobile unmanned transport vehicle. It is to give high reliability.

먼저 종래의 무인운반차의 합류점 제어방법을 살펴보면, 첫째, 빔센서와 교차점 제어장치에 의한 합류점 제어방법으로 자동차용 도로의 교차로에 설치되어 있는 교차로 제어장치처럼 각 교차점에 빔센서와 교차점 제어기를 설치하고, 무인운반차에도 빔센서를 설치하여 교차점에서 교차점 제어기와 무인운반차간에 빔센서로 신호를 교환하여 교차점에서 무인차간의 충돌을 방지토록 한 것과, 둘째, 컴퓨터 및 무선통신기를 이용하는 방법으로 각 교차점에서의 무인 운반차와 컴퓨터간에 무선통신을 이용하여 교차점을 컴퓨터에서 제어토록 한 것이 있으나, 상기 첫째 둘째 방식 모두 그 설치비가 고가인 문제점이 있다.First, the confluence point control method of the conventional unmanned vehicle, first, the beam sensor and the junction control method by the intersection control device, the beam sensor and the intersection controller is installed at each intersection like the intersection control device installed at the intersection of the automobile road. In addition, the beam sensor is installed in the unmanned vehicle to exchange signals with the beam sensor between the intersection controller and the unmanned vehicle at the intersection to prevent collision between the unmanned vehicle at the intersection, and secondly, using a computer and a wireless communication device. Although the intersection is controlled by the computer using wireless communication between the unmanned vehicle and the computer at the intersection, the first and second methods have a problem that the installation cost is expensive.

그리고 셋째로, 초음파 센서를 무인운반차의 전후에 장착하여 운행 노면의 장애물을 감지토록 하여 교차점에서 제어하는 방식이 있으나 이는 합류점에서 충돌이 빈번하여 사용에 어려움이 많았다 따라서 본 발명에 서는 상기 셋째의 종래 사항을 보다 완벽하게 개선한 방법을 제공함에 있는 것으로, 특히 무인차의 전후면 양측에 수신 및 발신초음파센서와 일측면에 수신 및 다른 일측면에 발신 초음파센서를 부착하여 무인운반차의 합류점의 영역을 보다 안전하고 확실하게 확보하여 이동하는 무인운바차의 상호충돌을 방지시킬수 있도록 하는 무인 운반차의 합류점 제어방법을 제공하고자 함에 그 목적이 있는 것이다.And thirdly, the ultrasonic sensor is mounted before and after the unmanned vehicle, so that there is a way to detect obstacles on the road surface and control it at the intersection point. However, the collision is frequent at the confluence point, which makes it difficult to use. The present invention is to provide a method of more completely improving the prior art, in particular, receiving and transmitting ultrasonic sensors on both sides of the unmanned vehicle and transmitting and receiving ultrasonic sensors on one side of the receiving and other sides of the unmanned vehicle. It is an object of the present invention to provide a method for controlling the joining point of an unmanned transport vehicle that can secure the area more safely and securely to prevent mutual collision of the moving unmanned vehicle.

이를 첨부도면에 의해 본 발명을 상세히 설명하면 다음과 같다.When explaining the present invention in detail by the accompanying drawings as follows.

도면 제1도에서와 같이 무인운반차(1)의 전후면에 양측으로 수신 및 발신 초음파센서(S3)(S4)를 부설하고, 상기 무인운반차(1)의 일측면에는 수신 초음파센서(S3)를 다른 일측면엣는 발신 초음파센서(S4)를 각각 부설하여 상대 무인운반차(2)의 신호를 받거나 주어서 합류점 영역을 넓히게 한 방법이다.As shown in FIG. 1, receiving and transmitting ultrasonic sensors S 3 and S 4 are installed on both sides of the unmanned transportation vehicle 1 at the front and rear sides, and the receiving ultrasonic sensor is disposed at one side of the unmanned vehicle 1. The other side edge of (S 3 ) is a method of laying out the transmitting ultrasonic sensor (S 4 ), respectively, to receive or give a signal from the relative unmanned vehicle (2) to expand the confluence point area.

이와 같이 본 발명은 무인운반차(1)가 주행시 전후면에 달린 수신 및 발신 초음파센서(S1,S2)는 전후방에 노면상태 및 다른 무인차의 감기기능을 함과 동시에 양측면에 부설된 수신 및 발신 초음파센서(S3,S4)는 각각 상대편의 무인운반자(2)가 발신하는 신호를 받거나 상대편의 무인운반차(2)가 수신하는 신호를 줄수 있게 하여 합류점의 영역을 보다 넓게 하므로써 이동하는 무인운반차의 상호충돌을 방지할수 있게 되는 것이다. 즉, 종래에는 서로다른 차량의 동시진입시에는 합류점 제어가 되지 않아 충돌현상이발생되나, 본 발명에서는 그러한 상황 발생을 배제시킨 것이다.As described above, the present invention receives and transmits ultrasonic sensors S 1 and S 2 which are mounted on the front and rear surfaces of the unmanned vehicle 1 while traveling, while receiving the road surface and the winding function of another unmanned vehicle at the same time. And outgoing ultrasonic sensors S 3 and S 4 respectively receive signals transmitted by the unmanned carrier 2 of the other side or give signals received by the unmanned vehicle 2 of the other side to move the wider area of the confluence point. It will be able to prevent the collision of the unmanned vehicle. That is, in the prior art, when the simultaneous entry of different vehicles, the confluence occurs because the confluence is not controlled, but the present invention excludes the occurrence of such a situation.

이상과 같이 구성되고 작용되는 본 발명은 무인운반차의 양측면 각각에 수신 및 발신 초음파센서를 부설해주므로서 약간의 소프트위에의 증설로 그설치비가, 완변한 충돌예방을 이룰수 있는 효과가 있다.The present invention constructed and operated as described above has an effect of installing the receiving and transmitting ultrasonic sensors on each side of the unmanned vehicle so that the installation cost can be completely prevented by the expansion of the soft software.

Claims (1)

전후면 양측에 수신 및 발신센서(S1,S2)를 두어 무인운반차의 합류점을 제어하는 방법에 있어서, 무인운반차(1)의 일측면에는 수신센서(S3)를 다른 일측면에는 발신센서(S4)(를 두어 상대 무인운반차(2)의 신호를 받거나 주어서 합류점 영역에서 무인차 스스로 충돌을 방지할수 있도록 됨을 특징으로 하는 무인운반차의 합류점 제어방법.In the method for controlling the confluence point of the unmanned transport vehicle by placing the receiving and transmitting sensors (S 1 , S 2 ) on both sides of the front and rear surfaces, the receiving sensor (S 3 ) on one side of the unmanned transport vehicle (1) 2. A method for controlling the joining point of an unmanned vehicle, characterized in that it is possible to prevent the collision of the unmanned vehicle by itself at the confluence point by receiving or giving a signal of the relative unmanned vehicle (2) by placing the outgoing sensor (S 4 ).
KR1019910025544A 1991-12-30 1991-12-30 Control method of unmanned cart in meeting point KR940005269B1 (en)

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Application Number Priority Date Filing Date Title
KR1019910025544A KR940005269B1 (en) 1991-12-30 1991-12-30 Control method of unmanned cart in meeting point

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Application Number Priority Date Filing Date Title
KR1019910025544A KR940005269B1 (en) 1991-12-30 1991-12-30 Control method of unmanned cart in meeting point

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KR930012436A KR930012436A (en) 1993-07-20
KR940005269B1 true KR940005269B1 (en) 1994-06-15

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