KR102595935B1 - Method for controlling an unmanned guided vehicle using an unmanned guided vehicle container transfer system controlled in forward and backward directions - Google Patents

Abstract

This technology relates to an unmanned guided vehicle equipped with a plurality of moving means and a sensor unit that can transport containers without forming a void space after easily loading containers of different volumes and without securing a separate U-turn space, More specifically, the container is detachably fixed through the control of the control unit, the control unit connected to the control server and the communication network, the control unit, but moves by receiving power from the controlled moving means, and the control unit, but can rotate with the drive unit. It includes a rotary seating unit installed to do so, and the moving means is provided symmetrically to each other in the forward and backward directions of the driving unit with respect to the rotating seating unit, and is controlled so that any one of the moving means can be activated according to the moving direction of the unmanned guided vehicle. It is characterized by being

Description

{Method for controlling an unmanned guided vehicle using an unmanned guided vehicle container transfer system controlled in forward and backward directions}

This technology relates to an unmanned guided vehicle equipped with a plurality of moving means and a sensor unit that can transport containers without forming a void space after easily loading containers of different volumes and without securing a separate U-turn space.

In general, trains are one of the important means of transportation such as passenger trains, freight trains, and electric trains that run on tracks by connecting multiple railroad cars in succession. They can run in a safe condition by connecting multiple railroad cars in series. It has the advantage of being able to carry approximately hundreds to thousands of passengers, as well as transporting large amounts of cargo at once.

In such a conventional train, multiple vehicles are connected as proposed in Publication Patent No. 10-2010-0045932, Registered Patent No. 10-1229348, etc.

That is, in the case of general passenger trains, electric trains, and subways for transporting passengers, the passenger trains have a structure in which passenger cars are continuously connected, and in the case of freight trains, the cargo cars capable of loading cargo are structured in a continuous connection.

Meanwhile, in order to improve the economic feasibility and efficiency of railway vehicles, the key is to maximize space for passenger or cargo loading and minimize the weight and void space of railway vehicles.

Figure 1 is a diagram showing a container freight car as an example of a conventional conventional bogie.

According to this, a general railway vehicle has a car body (20) placed on two bogies (10), and the bogies (10) are equipped with components such as wheels, axles, suspension devices, basic braking devices, and support frames to safely keep the railroad cars. It guides along the track rail, cushions vibration, and supports the car body 20.

In order to transship a container (C) using the above-described conventional bogie, not only is there a division between the front and rear, but a separate space (U-turn space) is provided where the cargo ship can be turned according to the direction in which the transshipped container is to be transported. There is a problem that needs to be resolved.

In addition, in order to move containers with different volumes, conventional carts have the inconvenience of having to transship and transfer small volume containers according to the container with the largest volume.

In other words, as shown in FIG. 2, a problem arises in that the bogie for transporting a 20-foot (fit) container (C) must use a bogie that can transport 40 feet, resulting in the formation of a void space (S). Loss (waste of energy and time) occurs due to movement.

Domestic registered patent No. 10-1654896 (announcement date: 2016.09.08.) Domestic Public Service No. 20-1988-12065 (Publication date: 1988.08.26.) Domestic registration utility No. 20-0137572 (announcement date: 1999.03.20.) Domestic registration utility No. 20-0388140 (announcement date: 2005.06.17.)

In order to solve the above-described conventional problems, the purpose of the present invention is to provide a transport vehicle that can transport the container to a desired point without creating a separate space for the cart to rotate according to the direction of movement after transshipment has occurred. There is.

In addition, in order to solve the conventional problems, the present invention seeks to provide a transport vehicle that can prevent loss of energy as well as time by preventing void space from being formed when transporting containers with different volumes. There is another purpose.

As a means of solving the problem of solving the above-described conventional problems, the unmanned guided vehicle container transport system controlled in the forward and backward directions according to the present invention includes a control unit 30 connected to a control server 50 and a communication network, and a control unit 30. ) is mounted, but the container (C) is detachably fixed through the control of the driving unit 10 and the control unit 30, which move by receiving power from the controlled moving means 34, but can rotate with the driving unit 10. It includes a rotary seating unit 20 installed to It is characterized in that any one of the moving means 34 is controlled to be activated according to.

In addition, the control unit 30 includes a transmitting and receiving unit 30b for remotely controlling the unmanned guided vehicle by transmitting and receiving information with the controller 40, and a driving gear 32 that is tooth-coupled with the driving unit 10. A driving motor 31 provided with a sensor unit 35 installed on the driving unit 10 to be activated or deactivated in accordance with the direction of travel of the unmanned guided vehicle, a control unit 30, and a control server 50. It is preferable that the communication unit 30a and the control unit 30, which are provided so that they can be connected to each other through a communication network, include a battery 33 that provides the necessary power for operation.

In addition, the sensor unit 35 includes at least one obstacle detection sensor 36 installed on the outer surface of the drive unit 10, an RFID sensor 37 installed below the drive unit 10, and the drive unit 10. It includes a marker sensor 38 installed at the bottom, where the RFID sensor 37 allows the location of the unmanned guided vehicle to be confirmed through the communication unit 30a, and the marker sensor 38 is located on the rail (R). It is desirable to allow the stopping position of the unmanned guided vehicle on the rail R to be determined through the communication unit 30a in conjunction with the stop markers 39 arranged adjacent to each other.

According to the present invention, differently from the prior art, the container can be seated and moved after rotating the seating member in the desired direction through the swing frame member installed on each pair of unmanned guided vehicles according to the direction in which the container is to be transported. Accordingly, the effect of quickly transporting containers without forming a separate rotation space is expected.

In addition, unlike in the past, the gap between a pair of unmanned guided vehicles can be varied depending on the volume of the container to be loaded, which is expected to prevent energy waste due to non-creation of ineffective space.

In addition, unlike in the past, one of a pair of moving means is activated in accordance with the direction of travel of the unmanned guided vehicle, enabling the transfer of containers, which has the effect of reducing the number of instances of container transfer.

1 and 2 are diagrams showing a typical conventional bogie.
Figure 3 is a diagram illustrating a system for a method of controlling an unmanned guided vehicle using an unmanned guided vehicle container transport system controlled in the forward and backward directions according to the present invention.
FIG. 4 is a diagram showing the unmanned guided vehicle of FIG. 3.
Figure 5 is an exploded perspective view of the unmanned guided vehicle of Figure 4.
FIG. 6 is a diagram showing a driving unit for FIG. 4.
FIGS. 7 to 11 are views showing the rotational seating portion of FIG. 4.
Figure 12 is a view showing the seating member for Figure 4.
Figure 13 is a flow chart of an unmanned guided vehicle control method using an unmanned guided vehicle container transfer system controlled in the forward and backward directions according to the present invention.
Figures 14 and 15 are operational relationships of the unmanned guided vehicle container transport system controlled in the forward and backward directions with respect to Figure 13.

Hereinafter, various embodiments will be described in more detail with reference to the attached drawings. The embodiments described herein may be modified in various ways. Specific embodiments may be depicted in the drawings and described in detail in the detailed description. However, the specific embodiments disclosed in the attached drawings are only intended to facilitate understanding of the various embodiments. Therefore, the technical idea is not limited to the specific embodiments disclosed in the attached drawings, and it should be understood that all equivalents or substitutes included in the spirit and technical scope of the invention are included.

Terms containing ordinal numbers, such as first, second, etc., may be used to describe various components, but these components are not limited by the above-mentioned terms. The above-mentioned terms are used only for the purpose of distinguishing one component from another.

In this specification, terms such as “comprise” or “have” are intended to indicate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof. When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

In addition, when describing the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof is abbreviated or omitted.

Hereinafter, the unmanned guided vehicle container transfer system (hereinafter referred to as 'transfer system') controlled in the forward and backward directions according to the present invention will be described in detail with reference to the attached drawings.

First, as shown in FIGS. 3 and 4, the transport system 1 according to the present invention largely includes a driverless truck (D/T) including a driving unit 10 and a rotary seating unit 20, and It includes a control unit 30 mounted on the unmanned guided vehicle so that the unmanned guided vehicle can be remotely controlled by a controller (not shown).

In more detail, as shown in FIGS. 5 and 6, the driving unit 10 remotely moves the container C transshipped through the rotational seating unit 20, which will be described later, through the control of the control unit 30. It is configured to be transported along the rail (R) and includes a shuttle body (11), a wheel member (12), and a side frame (17).

For example, the shuttle body 11 is equipped with a control unit 30 that is remotely operated by the controller 40 on the inside, a wheel member 12 is installed on the lower part, and a side frame 17 is installed on the outer surface to form a container (C ) to protect the installed components from damage that may occur during transshipment.

For this purpose, the shuttle body 11 has a drive motor 31 for rotating the drive gear 32, which is tooth-coupled with the driven gear 16 constituting the wheel member 12 to form the wheel member 12. to provide power for operation.

Meanwhile, inside the shuttle body 11 in the present invention, a drive motor 31 and a rotation motor 28 as well as a rechargeable battery 33 for applying the power required to operate the control unit 30 are detachable. It can possibly be mounted (see Figure 4).

In addition, the wheel member 12 is configured to allow the container C to be transported along the rail R by receiving power through the drive motor 31 described above, and includes a crankshaft 13 and a wheel 14. and a connecting body (15).

At this time, it is preferable that the wheel members 12 are installed in pairs symmetrically at the front and rear, respectively, with respect to the rotating seating portion 20, which will be described later, to enable stable transportation of the container C, and for this purpose, the wheel members 12 are driven. The motor 31 is also preferably installed inside the shuttle body 11 so that it can be individually operated through a single control unit 30 (see FIG. 14).

As shown, the crankshaft 13 is arranged in a column shape at the front and rear lower portions of the shuttle body 11, and is provided with a driven gear 16 on the outer surface that engages with the drive gear 32 to drive the drive motor ( 31) so that the power can be transmitted to the crankshaft 13 through the driven gear 16.

The wheels 14 are formed on both sides of each crankshaft 13 and have a structure that can rotate according to the rotational direction of the crankshaft 13, and are provided on the circumferential surface to be inserted in shape matching with the rail R. A groove is formed.

As shown, the connecting body 15 is fixedly installed on both ends of the crankshaft 13 to prevent interference with the wheel 14 described above, and the side frame 17 on the outer surface can be separated by fastening means such as bolts. Combine so that

At this time, the end of the crankshaft 13 can be rotatably inserted into the connector 15 through a bearing, etc., and through this, the side frame 17 coupled to the outer surface of the connector 15 is maintained in a fixed state. A structure in which only the crankshaft 13 rotates is satisfied.

In addition, as shown, the side frame 17 is made entirely of metal and is formed to have an overall square strip shape, and the lower part is fastened to a plurality of lower parts through a fastening means to form the shuttle body 11 as well as the above. Components installed on the shuttle body 11 can be protected from external shocks, etc.

Here, as shown, the side frame 17 satisfies the structure in which both sides of the rotating frame 27, which includes elastic bodies 29 to be described later on both sides facing each other, are inserted into the through hole 18, and is vertically moved. Stress, such as an applied load, can be reinforced by elastic force, and this will be explained in more detail below.

And, as shown in FIGS. 7 to 11, the rotary seating unit 20 is rotatably mounted on the driving unit 10 described above through control of the control unit 30, and is positioned at the front and rear of the lower part of the container C. Each of these is supported to enable stable transport in both directions (front and rear), and includes a seating member 21 and a swing frame member 26.

For example, as shown, the seating member 21 rotates in the forward (clockwise) or reverse direction by the swing frame member 26 installed at the bottom, and is configured to ensure that the lower part of the container (C) is fixedly seated, and includes a seating frame ( 22), locking 23 and guide 24 (see FIGS. 11 and 12).

As shown, the seating frame 22 can be formed into the shape of a plate with a predetermined length, and its lower part is rotatably coupled to the rotation motor 28.

The seating frame 22 is arranged to be located in the center of the inner space of the side frame 17, and this prevents the unmanned guided vehicle of the present invention from being tilted in one direction due to the load when the container C is seated. , Through this, when the brake (not shown) to stop the unmanned guided vehicle is activated, stress applied to the brake is minimized.

Locking frames 23 and guides 24 are formed on both sides of the seating frame 22, respectively, to help secure the container C as well as to seat the container C in a shape-matched manner on the seating frame 22. give.

Here, the locking 23 is formed at a position opposite to the insertion hole (not shown) formed in the container C.

Through this, when the locking 23 and the container C are fastened to each other, the control unit 30 controls a motor (not shown) provided inside the seating frame 22 so that the locking 23 can be inserted into the insertion hole. When it is determined that the locking 23 is inserted into the insertion hole, the control unit 30 rotates the locking 23 in the reverse direction so that the container C and the seating frame 22 are fixed to each other. make it possible to maintain it.

In this process, for stable coupling between the container (C) and the locking (23), one or more guides (24) are placed on both sides of the seating frame (22) to support the corners of the container (C) in a shape-matched manner.

At this time, the upper surface of each guide 24 is formed with an inclined surface 25 having an inclination in the direction of the locking 23, so that when transshipping the container C to an unmanned guided vehicle, the lower surface of the container C is formed with the inclined surface 25. It is desirable to slide as if guided so that insertion between the insertion hole and the locking 23 can be implemented more easily.

In addition, the swing frame member 26 rotates the seating member 21 in accordance with the direction of the edge of the container C, that is, the transfer direction, when the container C is transshipped to the seating member 21 described above. At the same time, it is configured to absorb shock and prevent the durability of the unmanned guided vehicle from being deteriorated and includes a rotating frame 27 and an elastic body 29.

As shown, the rotating frame 27 is made of metal to have the shape of a plate with a predetermined length, similar to the seating frame 22 described above, and is provided with elastic bodies 29 on both sides.

At the center of the length of the rotation frame 27, a rotation motor 28 is fastened to the lower part of the seating frame 22 and provides power to rotate the seating frame 22 (up to 180 degrees) to be controlled by the control unit 30. It is provided so that

At this time, both sides of the rotating frame 27 are arranged so that they can be inserted into the through-holes 18 formed to face each other in the above-described side frame 17, and through this, elastic bodies provided on both sides of the rotating frame 27 ( 29) It is desirable to allow the lower part to be supported on the side frame 17.

In addition, the rotation frame 27 is further provided with an encoder sensor or a proximity sensor controlled by the control unit 30 so that the rotation angle of the rotation motor 28 can be adjusted by the control unit 30.

Of course, although not shown, the rotation frame 27 may be separately equipped with a brake (not shown) to fix the seating frame 22 after the seating frame 22 is rotated by the rotation motor 28. there is.

Therefore, when a shock due to a load applied in the vertical direction occurs in the process of transshipment of the container C to be seated on the seating frame 22, the elastic force of the elastic body 29 absorbs this shock and It is possible to prevent the durability of the device from deteriorating.

For this purpose, the width of the through hole 18 is formed so that the inserted rotating frame 27 can be raised and lowered by the elastic body 29, and the lower surface of the seating frame 22 is formed so that the rotating frame 27 can be raised and lowered. They are arranged adjacent to each other in the vertical direction with the upper surface of the side frame 17 so that there is a sufficient gap between them.

In addition, as shown in FIGS. 3 and 5, the control unit 30 is connected to the control server 50 through a wireless communication network to enable information transmission and reception, and can be remotely unmanned through the controller 40 carried by the worker. It is configured to not only load the container (C) of the car, but also allow the unmanned guided vehicle to safely move to the target point along the rail (R), and includes a moving means (34) and a sensor unit (35).

At this time, the obstacle detection sensor 26 constituting the moving means 34 and the sensor unit 35 in the present invention is symmetrical to the front and rear with respect to the above-described seating member 21 inside one unmanned guided vehicle. It is desirable to arrange them so that one of them is activated or deactivated depending on the direction of travel of the unmanned guided vehicle (see FIG. 14).

For example, the moving means 34 includes a driving motor 31 and a battery 33 to provide power for the unmanned guided vehicle to move.

As shown, the drive motor 31 has the shape of a box, and is equipped inside with a plurality of gears and a brake that can stop the running unmanned guided vehicle by applying physical force to the gears in the form of a module. A motor drive may be installed on the shuttle body 11 so that it can be rotatably connected to the drive motor 31.

Here, the drive motor 31 is installed with a driven gear 32 that engages with the driven gear 16 formed on the crankshaft 13, so that the power of the drive motor 31 is transmitted to the crankshaft 13. Power for driving the wheel member 12 is transmitted.

The battery 33 is provided to be detachable from the shuttle body 11 and is charged with external power so that necessary power can be applied to all electrical components constituting the control unit 30.

In addition, the sensor unit 35 is configured to detect safety accidents such as collisions with respect to the unmanned guided vehicle running along the rail R, as well as position and stop the unmanned guided vehicle, and includes an obstacle detection sensor 36. , RFID sensor 37, marker sensor 38, and stop marker 39.

The obstacle detection sensor 36 is installed at the front and rear of the side frame 17, respectively, so that it can be electrically connected to the control unit 30, and is activated or deactivated in accordance with the driving direction of the unmanned guided vehicle.

The activated obstacle detection sensor 36 detects other obstacles located in the direction in which the unmanned guided vehicle is traveling, and transmits the detection information to the control unit 30 to prevent collisions with obstacles without operator intervention. .

The RFID sensor 37 is mounted on the lower part of the shuttle body 11 to be electrically connected to the control unit 30, and provides information that can determine the location of the unmanned guided vehicle using communication from the control server 50. I do it.

The marker sensor 38 is also installed at the bottom of the shuttle body 11, that is, at a position opposite to the stop markers 39 arranged adjacent to each other in the longitudinal direction of the rail (R) so that it can be electrically connected to the control unit 30. This makes it possible to accurately determine the exact location of the unmanned guided vehicle, especially the stopping position of the unmanned guided vehicle.

In addition, the communication unit 30a is connected to the control unit 30 and the control server 50 through wireless communication, so that the information detected by the RFID sensor 37 or the marker sensor 38 is transmitted to the control server through the control unit 30. (50) and allows the control unit 30 to receive information transmitted from the control server 50 (for example, arrival location information for the unmanned guided vehicle to move).

In addition, it is desirable for the operator to check the information transmitted from the control server 50 through a display provided in the controller 40, if necessary, so that the operator can control the unmanned guided vehicle remotely.

In addition, the transmitting and receiving unit 30b enables data to be transmitted and received so that mutual short-range wireless communication can be achieved between the controller 40 and the control unit 30 carried by the worker.

At this time, it is preferable that the controller 40 in the present invention is formed so that at least one pair of unmanned guided vehicles can be individually controlled through one controller 40.

Hereinafter, with reference to the attached drawings, the unmanned guided vehicle control method (hereinafter briefly referred to as the 'control method') using the unmanned guided vehicle container transfer system controlled in the forward and backward directions according to the present invention will be described in detail.

Prior to explanation, in order to clearly understand the gist of the control method (2) according to the present invention, at least one of a pair of unmanned guided vehicles provided on the rail (R) is stopped in conjunction with the marker sensor (38). The explanation will be based on the state in which the marker 39 is placed at the provided location.

First, as shown in FIGS. 13 to 15, the control method (2) according to the present invention is largely 1) transmitting direction information for a pair of unmanned guided vehicles to the controller (40) through the control server (50). Step of receiving the transmission (S100), 2) Step of activating the moving means 34 and sensor unit 35 corresponding to the direction of travel of the unmanned guided vehicle by the control unit 30 (S200), 3) Of the container (C) Steps (S300) and 44) of loading and fixing the container (C) by moving it through the moving means (34) so that there is a gap (D1, D2) between the pair of unmanned transport vehicles corresponding to the volume (S300) and 44) Pair of unmanned transport It includes a step (S400) of moving the car to the target location using each of the moving means 34 activated in the car.

In more detail, to execute step 1) above, the control server 50 transmits direction information including the target point to which the container C is to be transferred to the control unit 30, and the corresponding direction information The control unit 30, which has received the information, transmits the same information to the controller 40 so that the operator can check it.

At this time, it is desirable to transmit information about the volume of the container C along with the direction information transmitted from the control server 50.

Afterwards, the worker who has confirmed the direction information uses the controller 40 to control the moving means 34 and the sensor unit 35, which are symmetrical to each other, on a pair of unmanned guided vehicles provided on the rail (R). Perform step 2) to control it so that it can be activated by (30).

In this process, the control unit 30 controls to activate the moving means 34 located in the direction in which the unmanned guided vehicle wants to drive, and, if necessary, activates the obstacle detection sensor 36 located in the direction in which the unmanned guided vehicle travels. It is controlled by the controller 40 so that it can be activated simultaneously.

Of course, the control unit 30 automatically installs a moving means 34 or an obstacle detection sensor located in the direction in which the unmanned guided vehicle is to travel based on the direction information transmitted from the control server 50 without manipulation of the controller 40. It is also possible to have (36) activated automatically.

Thereafter, in step 3), the worker moves the unmanned transport vehicle with the moving means 34 activated based on the volume information of the container C included in the traveling direction information and places the container C on the pair of unmanned transport vehicles. Load it.

For example, as shown, the worker moves the first unmanned guided vehicle with the mobile means 34 activated among a pair of unmanned guided vehicles at intervals D1 and D2 corresponding to the volume (20fit or 40fit) of the container C. The first unmanned transport vehicle is moved based on the second unmanned transport vehicle located above the stop marker 39.

At this time, it is preferable that the spacing (D1, D2) between the first and second unmanned guided vehicles can be set through the marker sensor 38 and the stop marker 39 provided on the first moving unmanned guided vehicle. do.

In addition, when the movement of the first unmanned guided vehicle is completed, the rotation motor 28 is operated through the control unit 30 provided in each of the first and second unmanned guided vehicles so that the pair of seating members 21 are symmetrical to each other. Arrange so that it can rotate.

In this state, both sides of the lower part of the container (C) towed by a crane (not shown), etc. are guided by the guides (24) constituting a pair of rotating seating members (21) and fixed by the locking (23). Step 3) is completed by loading it.

Finally, in step 4), when the loading of the container (C) is completed, a signal is given to the control unit 30 through the controller 40 so that each activated mobile means 34 in the pair of unmanned guided vehicles can operate to determine the target position. It is possible to transport the container (C) up to.

In this process, a pair of unmanned guided vehicles transports the container (C) to have a moving speed that matches the set speed value stored in the control unit 30, and the speed of the unmanned guided vehicles is determined by the distance between the marker sensor 38 and the stop marker 39. At least one of the recognized time information or the RFID sensor 37 recognition information for confirming the location of the unmanned guided vehicle from the control server 50 through the communication unit 30a is used to confirm.

In addition, a pair of unmanned guided vehicles transporting a container (C) uses recognition information between the stop marker (39) and the marker sensor (38) that exist before the target location to achieve a smooth and safe stop at the target location. By operating the brake, the movement speed can be reduced through the control unit 30.

As described above, the transport system (1) according to the present invention is different from the conventional one, and the container (C) is transported through the swing frame member (26) installed on each pair of unmanned guided vehicles according to the direction in which the container (C) is to be transported. After rotating (21) in the desired direction, the container (C) is seated and can be moved, so the effect of quickly transporting the container (C) without forming a separate rotation space is expected.

In addition, differently from the conventional method, the distance (D1, D2) between a pair of unmanned guided vehicles can be varied depending on the volume of the container (C) to be loaded, thereby wasting energy due to non-creation of void space (S). The effect of preventing is expected.

In addition, unlike in the past, one of the pair of moving means 34 is activated in accordance with the direction of travel of the unmanned guided vehicle, enabling the transport of the container C, thereby increasing the number of cases for transporting the container C. There is a reduction effect.

As described above, the present invention has been described with specific details such as specific components and limited embodiments and drawings, but this is only provided to facilitate a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , those skilled in the art can make various modifications and variations from this description.

Therefore, the spirit of the present invention should not be limited to the described embodiments, and the scope of the patent claims described later as well as all things that are equivalent or equivalent to the scope of this patent claim shall fall within the scope of the spirit of the present invention. .

1: Unmanned guided vehicle container transport system controlled in the forward and backward directions according to the present invention
2: Unmanned transport vehicle control method using the unmanned transport vehicle container transport system controlled in the forward and backward directions according to the present invention
10: driving part
11: shuttle body 12: wheel member
13: Crankshaft 14: Wheel
15: Connector 16: Driven gear
17: Side frame 18: Through hole
20: Rotating seat
21: Seating member 22: Seating frame
23: Locking 24: Guide
25: slope 26: swing frame member
27: Rotation frame 28: Rotation motor
29: elastic body
30: control unit
31: drive motor 32: drive gear
33: battery 34: means of transportation
35: Sensor unit 36: Obstacle detection sensor
37: RFID sensor 38: marker sensor
39: Stop marker
40: controller
50: Control server
C: container
R: rail

Claims (8)

delete delete delete 1) Receiving direction information about a pair of unmanned guided vehicles to the controller 40 through the control server 50;
2) activating the moving means 34 and the sensor unit 35 corresponding to the direction of travel of the unmanned guided vehicle by the control unit 30;
3) loading and fixing the container (C) by moving it through the moving means (34) so that there is a gap (D1, D2) between a pair of unmanned guided vehicles corresponding to the volume of the container (C); and
4) operating the moving means 34 activated through the control unit 30 to move the pair of unmanned guided vehicles so that the container C can reach the target location;
The moving means 34 and the sensor unit 35 are controlled in the forward and backward directions, characterized in that they are provided symmetrically to each other in the unmanned guided vehicle,
In step 3), the pair of unmanned guided vehicles rotates each seating frame 22 symmetrically to each other in accordance with the direction of travel of the unmanned guided vehicle by each control unit 30, so that the lower two corners of the container C are A method of controlling an unmanned guided vehicle using an unmanned guided vehicle container transfer system controlled in the forward and backward directions, characterized in that it is controlled by the control unit 30 to engage with the locking 23 formed on the upper surface of the seating frame 22.
According to paragraph 4,
The sensor unit 35 includes one or more of an obstacle detection sensor 36, an RFID sensor 37, and a marker sensor 38,
In step 2), the control unit 30 is controlled to deactivate at least one of the obstacle detection sensor 36 or the moving means 34 that is not located in the direction of travel of the unmanned guided vehicle. A method of controlling an unmanned aerial vehicle using an unmanned aerial vehicle container transport system.
According to paragraph 4,
In step 3), the distances (D1, D2) between unmanned guided vehicles are
A control unit 30 so that the stopping position of the unmanned guided vehicle can be determined using recognition information between the sensor unit 35 mounted on the unmanned guided vehicle and a number of stop markers 39 arranged adjacent to each other along the longitudinal direction of the rail R. ) is controlled by,
The control unit 30 uses the recognition information of the stop marker 39 before the stop position of the unmanned guided vehicle to control the moving speed with the brake included in the moving means 34 so that the speed of the unmanned guided vehicle can be reduced. A method of controlling an unmanned transport vehicle using an unmanned transport vehicle container transport system controlled in the forward and backward directions.
delete According to paragraph 4,
In step 4), a pair of unmanned guided vehicles loaded with containers (C)
The moving means (34) can be controlled to move along the rail (R) within the stored set speed,
A method of controlling an unmanned transport vehicle using an unmanned transport vehicle container transfer system controlled in the forward and backward directions, characterized in that the speed of the unmanned transport vehicle is confirmed using recognition information between the sensor unit 35 and the stop marker 39.

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