Hereinafter, with reference to the accompanying drawings a preferred embodiment of the luggage transport apparatus according to the present invention will be described in detail.
1 is a schematic perspective view of a baggage transport apparatus according to the present invention, FIG. 2 is a schematic side view of FIG. 1, FIG. 3 is a schematic block diagram of a connection relationship of a control unit according to the present invention, and FIG. A schematic front view of a baggage transport device according to the present invention.
Referring to Figure 1, the baggage transport apparatus 1 according to the present invention is a transport facility in a vehicle (hereinafter referred to as 'first transport facility') in a vehicle (not shown) transport facilities (hereinafter, 'second transport facility') A conveyor (2, Conveyor) for transporting the baggage for transporting the baggage (not shown) or bringing the baggage from the second transportation facility to the first transportation facility, and to move the conveyor (2). Winch 3 is included. Here, one example of a vehicle is a railroad vehicle. When the vehicle stops running, the winch 3 moves the conveyor 2 to the lowered position (shown in dashed lines in FIG. 1). When the conveyor 2 is located at the lowered position, the conveyor 2 carries the baggage to bring the baggage to the first transportation facility or to take out the baggage from the first transportation facility. When the carriage of the baggage is completed, the winch 3 moves the conveyor 2 to the elevated position (shown in solid line in FIG. 1). The rising position is a position where the conveyor 2 does not collide with the vehicle when the vehicle is driven. Hereinafter, the conveyor 2 and the winch 3 will be described in detail with reference to the accompanying drawings.
Referring to FIG. 1, the conveyor 2 carries baggage. The conveyor 2 carries the baggage to bring baggage into the first transportation facility or to take out baggage from the first transportation facility. The conveyor 2 may include a plurality of slats 21 and a conveyor motor 22.
The slats 21 support the baggage. The conveyor 2 may transport the baggage using slats 21 which are in surface contact with the baggage. The slats 21 are formed in a shape that can be in contact with the baggage. For example, the slats 21 may be formed in a rectangular plate shape as a whole. Accordingly, the conveyor 2 can smoothly transport the baggage by increasing the area in contact with the baggage as compared with the line contact with the baggage. Specifically, it is as follows.
First, the height of the doorway for carrying in and out of the baggage of the vehicle may be changed as the weight of the baggage is changed. For example, when the conveyor 2 carries baggage into the first transportation facility, the weight of the baggage mounted in the vehicle is increased, thereby lowering the height of the connection point of the entrance and exit of the vehicle. When the conveyor 2 takes out the baggage from the first transportation facility, the weight of the baggage mounted in the vehicle is reduced, thereby increasing the height of the connection point. When the height of the vehicle is changed as described above, the baggage passes through an inclined path in the process of being transported from the conveyor 2 to the first transportation facility or from the first transportation facility to the conveyor 2.
As such, when the conveyor 2 is in line contact with the baggage while the baggage is transported between the conveyor 2 and the first transportation facility, the area of contact with the conveyor 2 is small. Therefore, a slip or the like may occur while passing through the inclined path, and thus there is a problem in that the inclined path cannot be passed. In order to solve this problem, the conveyor 2 may transport the baggage using slats 21 which are in surface contact with the baggage. The conveyor 2 may be a slat conveyor. Therefore, the baggage transport apparatus 1 according to the present invention can increase the area in which the conveyor and the baggage contact each other, thereby smoothly transporting the baggage even if the height of the vehicle is changed.
Referring to FIG. 1, the conveyor motor 22 moves the slats 21 to transport the baggage. As the conveyor motor 22 moves the slats 21, baggage supported by the slats 21 may be transported.
Referring to FIG. 2, the winch 3 moves the conveyor 2 between the lowered position (shown in solid line in FIG. 2) and the raised position (shown in dashed line in FIG. 2). The winch 3 may rotate the conveyor 2. The winch 3 may include a wire 31, a winch pulley 32, and a winch motor 33.
One end of the wire 31 is coupled to one side of the conveyor 2, and the other end is coupled to the winch pulley 32. One side of the conveyor 2 is a portion facing the vehicle, and is a front portion of the conveyor 2. The winch 3 may move the conveyor 2 upward or downward by using the wire 31. That is, the winch 3 may move the conveyor 2 to an upper position or a lower position using the wire 31.
The winch pulley 32 may rotate the conveyor 2 between the raised position and the lowered position. The wire 31 may be wound around the winch pulley 32 or released from the winch pulley 32 according to the direction in which the winch pulley 32 is rotated. When the wire 31 is wound around the winch pulley 32, the conveyor 2 can be rotated to the raised position. When the wire 31 is released from the winch pulley 32, the conveyor 2 can be rotated to the lowered position.
The winch motor 33 may rotate the winch pulley 32 in a direction in which the wire 31 is wound around the winch pulley 32. The winch motor 33 may rotate the winch pulley 32 in a direction in which the wire 31 is released from the winch pulley 32. The winch motor 33 may be directly coupled to the rotating shaft of the winch pulley 32 to rotate the winch pulley 32, and is connected to the winch pulley 32 through a connecting means such as a belt to winch pulley. It is also possible to rotate 32.
The winch 3 is a winch unit 34 which supports the wire 31 so that one side of the conveyor 2 is lifted up by the wire 31 or one side of the conveyor 2 is lowered. ) May be included. The winch unit 34 may include a pulley 341 for supporting the wire 31 and a support 342 to which the pulley 341 is rotatably coupled. The wire 31 may be coupled to one side of the conveyor 2 via the pulley 341 at the winch pulley 32. As the wire 31 is wound or unwound by the winch pulley 32, the pulley 341 may be rotated by the wire 31. The support 342 may be elongated in a direction perpendicular to the ground surface, and the pulley 341 may be rotatably coupled to an upper end of the support 342.
The winch 3 may include a plurality of the wire 31, the winch pulley 32, the pulley 341, and the support 342. The winch 3 may include two wires 31, two winch pulleys 32, two pulleys 341, and two supports 342. The wires 31, the winch pulleys 32, the pulleys 341, and the supporters 342 may be installed at both sides of the conveyor 2. In this case, the winch 3 may include a connecting member 35 (shown in FIG. 1) for connecting the winch pulleys 32, and the winch motor 33 is one of the winch pulleys 32. It can be coupled to either. Accordingly, the winch 3 may rotate the winch pulleys 32 with one winch motor 33, and both sides of the conveyor 2 are inclined by rotating the winch pulleys 32 at the same angle. It can be rotated without load. Although not shown, the winch 3 may include a plurality of winch motors 33 in a number corresponding to the winch pulleys 32.
Referring to FIG. 3, the baggage transport device 1 according to the present invention may further include a control unit 4.
The control unit 4 may control the winch 3 so that the conveyor 2 is located at the raised position or the lowered position. In this case, the baggage transport device 1 according to the present invention may further include a position sensor 10 for detecting the position of the conveyor 2 and obtaining position information. The control unit 4 may control the winch 3 so that the conveyor 2 is stopped at the raised position or the lowered position by using the position information.
The position sensor 10 may include a falling position sensor 11. When the conveyor 2 is located at the lowered position, the lowered position sensor 11 detects the vehicle to obtain first detection information. The falling position sensor 11 may provide the control unit 4 with the obtained first detection information. The falling position sensor 11 may be installed on one side of the conveyor (2). The control unit 4 controls the winch 3 to stop the conveyor 2 when it is confirmed that the conveyor 2 is located at the lowered position using the first detection information. Therefore, the baggage transport apparatus 1 according to the present invention can accurately position the conveyor 2 in the lowered position so that the conveyor 2 can smoothly transport the baggage. The falling position sensor 11 may be a proximity sensor. The falling position sensor 11 may obtain the first detection information by detecting that one side of the conveyor 2 is moved closer to the vehicle within a predetermined distance. When the control unit 4 is confirmed that the conveyor 2 is located in the lowered position, the control unit 4 may control the conveyor 2 to carry out the operation of transporting the baggage.
The position sensor 10 may include a rising position sensor 12. When the conveyor 2 is located at the lifted position, the lifted position sensor 12 detects the conveyor 2 to obtain second detection information. The rising position sensor 12 may provide the control unit 4 with the obtained second detection information. The rising position sensor 12 may be installed on the support 342 (shown in FIG. 2). The control unit 4 controls the winch 3 to stop the conveyor 2 when it is confirmed that the conveyor 2 is located at the lifted position by using the second detection information. Therefore, the baggage transport apparatus 1 according to the present invention can accurately position the conveyor 2 in the lifted position so that the conveyor 2 does not interfere with the operation of the vehicle when the vehicle is running. The rising position sensor 12 may be a proximity sensor. The rising position sensor 12 may obtain the second sensing information by detecting that the conveyor 2 is moved within a predetermined distance.
Referring to FIG. 3, the control unit 4 may control the winch 3 to control the speed at which the conveyor 2 moves to the upper side or the lower side. For example, the control unit 4 may control the winch 3 to adjust the speed at which the conveyor 2 is rotated between the raised position and the lowered position. Therefore, the baggage transport apparatus 1 according to the present invention can reduce the time taken for the conveyor 2 to be located at the raised position or the lowered position, and the conveyor 2 is moved at the raised position or the lowered position. Can be stopped accurately. Specifically, it is as follows.
First, if the speed at which the winch 3 rotates the conveyor 2 in order to position the conveyor 2 in the raised position or the lowered position is too fast, the winch 3 causes the conveyor 2 to be moved. Even when the stop is stopped, the conveyor 2 may be stopped outside the rising position or the falling position due to vibration generated during the stop. On the other hand, in order to prevent the conveyor 2 from being stopped beyond the raised position or the lowered position due to vibration generated at the time of stopping, the speed at which the winch 3 rotates the conveyor 2 is reduced. The time taken for the conveyor 2 to be positioned at the raised position or the lowered position is increased.
In order to solve the problem as described above, the control unit 4 is rotated at the first rotational speed for a set time the conveyor 2 is decelerated to rotate the second rotational speed after the winch ( 3) can be controlled. The second rotational speed is a speed at which the winch 3 stops the conveyor 2 so as not to generate a vibration that is out of the position where the conveyor 2 should be stopped. The set time may be considered in consideration of the distance that the conveyor 2 rotates between the rising position and the falling position, the time taken for the conveyor 2 to decelerate from the first rotational speed to the second rotational speed, and the like. While it may be possible to reduce the time taken for the conveyor 2 to be located at the raised position or the lowered position, it may be a time range in which the conveyor 2 can be stopped accurately at the raised position or the lowered position.
Therefore, the baggage transport apparatus 1 according to the present invention can reduce the time taken to transport the baggage by reducing the time taken for the conveyor 2 to be located at the raised position or the lowered position. In addition, the baggage transport apparatus 1 according to the present invention reduces the speed at which the conveyor 2 rotates when the conveyor 2 approaches the rising position or the lowering position, thereby causing the conveyor 2 to be moved. It can be stopped accurately at the rising position or the falling position.
For example, when the winch 3 rotates the conveyor 2 from the lifted position to the lowered position, the control unit 4 causes the conveyor 2 located at the lifted position to be set for the set time. The winch 3 may be controlled to be rotated at a first rotational speed faster than two rotational speeds and then decelerated to be rotated at the second rotational speed and then stopped at the lowered position. That is, the conveyor 2 located in the ascending position rotates a predetermined distance at the first rotational speed. When the conveyor 2 approaches the descending position, the conveyor 2 is decelerated to rotate the predetermined distance at the first rotational speed. After moving, it can be stopped at the lowered position.
When the winch 3 rotates the conveyor 2 from the lowered position to the raised position, the control unit 4 rotates the second rotation for the set time of the conveyor 2 located at the lowered position. The winch 3 may be controlled to be rotated at a first rotational speed faster than the speed and then decelerated to be rotated at the second rotational speed and then stopped at the raised position. That is, the conveyor 2 located in the lowered position is rotated and rotated a predetermined distance at the first rotational speed. When the conveyor 2 approaches the raised position, the conveyor 2 is decelerated to rotate the predetermined distance at the second rotational speed. After being moved, it can be stopped at the raised position.
Referring to FIG. 4, the baggage transport device 1 according to the present invention may further include a mobile unit 5.
The moving unit 5 moves the conveyor 2 in a first direction (A arrow direction) or a second direction (B arrow direction). The first direction (A arrow direction) and the second direction (B arrow direction) are opposite to each other. For example, the mobile unit 5 may move the conveyor 2 to the left or the right. The vehicle may not always stop at the same position in the process of stopping at the station according to a change in acceleration and vibration due to a change in driving speed, an amount of baggage mounted in the vehicle, and an experience of a driver operating the vehicle. . Thus, if the conveyor 2 is always rotated between the raised position and the lowered position at the same position, the conveyor 2 may collide with the vehicle according to the relative position of the conveyor 2 with respect to the vehicle. There is a problem with this. In order to solve this, the moving unit 5 can align the relative position of the conveyor 2 with respect to the vehicle by moving the conveyor 2. The moving unit 5 may include a moving member 51 and a moving mechanism 52.
Referring to FIG. 4, the conveyor 2 and the winch 3 are coupled to the movable member 51. The conveyor 2 may be rotatably coupled to the moving member 51.
The moving mechanism 52 moves the moving member 51 in the first direction (A arrow direction) or the second direction (B arrow direction). The moving mechanism 52 may include a ball screw 521, a ball screw 521, a motor 522, a motor LM rail 523, an LM rail, and an LM guide 524.
The moving member 51 is fastened to the ball screw 521. According to the direction in which the ball screw 521 is rotated, the moving member 51 may be linearly moved in the first direction (A arrow direction) or the second direction (B arrow direction).
The motor 522 rotates the ball screw 521. The motor 522 may be connected to one end of the ball screw 521.
The LM rail 523 and the LM guide 524 guide the moving member 51 to move linearly. The LM guide 524 is movably coupled to the LM rail 523. The LM guide 524 is coupled to the moving member 51. A plurality of LM guides 524 may be coupled to the movable member 51.
Although not shown, the moving mechanism 52 may include a gear method using a motor, a rack gear, a pinion gear, and the like, a belt method using a motor, a pulley, a belt, and the like. It is also possible to move the moving member 51 by using.
Hereinafter, an operation relationship in which the control unit 4 controls the conveyor 2, the winch 3, and the moving unit 5 will be described in detail with reference to FIGS. 3 and 4.
First, when the vehicle is stopped, the control unit 4 controls the moving unit 5 so that the conveyor 2 moves in the first direction (A arrow direction) or the second direction (B arrow direction). do. Thus, the relative position of the conveyor 2 with respect to the vehicle can be aligned.
Next, when the conveyor 2 is aligned, the control unit 4 controls the winch 3 so that the conveyor 2 rotates from the raised position to the lowered position. The control unit 4 may control the winch 3 such that the conveyor 2 is rotated at the first rotational speed and then decelerated to rotate at the second rotational speed.
Next, when the conveyor 2 is located in the lowered position, the control unit 4 controls the conveyor 2 so that the baggage is transported. The control unit 4 may control the winch 3 so that the conveyor 2 is stopped at the lowered position by using the first sensing information detected by the lowered position sensor 11.
Next, when the transportation for the baggage is completed, the control unit 4 controls the winch 3 so that the conveyor 2 rotates from the lowered position to the raised position. The control unit 4 may control the winch 3 so that the conveyor 2 located in the lowered position is rotated at the first rotational speed and then decelerated to rotate at the second rotational speed. The control unit 4 may control the winch 3 such that the conveyor 2 is stopped at the raised position by using the second sensing information detected by the raised position sensor 12.
Hereinafter, with reference to the accompanying drawings, an embodiment in which the baggage transport apparatus 1 according to the present invention is applied to a railway vehicle among vehicles will be described in detail. From this, an embodiment in which the baggage transport apparatus 1 according to the present invention is applied to other means of transportation other than a railway vehicle may be apparently derived.
5 is a schematic perspective view showing a baggage transport apparatus according to the present invention applied to a railway vehicle, FIG. 6 is a schematic side view of FIG. 5, FIG. 7 is a schematic front view of FIG. 5, and FIG. 8 is a stop information transmitting means. , Schematic block diagram of the connection between the acquisition unit and the control unit, Figure 9 is a schematic side view showing the coupling position of the sensor unit and the reflection unit in the baggage transport apparatus according to the present invention, Figures 10 and 11 the present invention 12 and 16 are schematic plan views showing an operating state in which a baggage transport device according to the present invention is moved according to a position at which a railway vehicle is stopped, FIG. 17. Is a schematic plan view of the operating state of the guide mechanism according to the invention.
5 and 6, the conveyor 2 carries the baggage into the first transportation facility 20 installed in the railroad vehicle 100 or takes out the baggage from the first transportation facility 20. Baggage may be transported for
Referring to FIG. 6, the winch 3 rotates the conveyor 2 to a lowered position (shown in solid line in FIG. 6) in which one side of the conveyor 2 is positioned inside the railway vehicle 100. Let's do it. The winch 3 rotates the conveyor 2 to an elevated position (shown by a dotted line in FIG. 6) in which the conveyor 2 is located outside the railway vehicle 100. The conveyor 2 may enter the railway vehicle 100 through an open space 200 formed as the entrance door of the railway vehicle 100 for carrying in and out of the baggage is opened.
The winch 3 rotates the conveyor 2 to the lowered position so that one side of the conveyor 2 is supported by the railway vehicle 100. The winch 3 rotates the conveyor 2 to the lowered position so that one side of the conveyor 2 is supported by the bottom surface 101 of the railroad vehicle 100 or the first transportation facility 20. You can.
The winch 3 rotates one side of the conveyor 2 to be supported by the railway vehicle 100, so that one side of the conveyor 2 is the bottom surface 101 of the railway vehicle 100 or the first side. 1 The height of the floor surface for carrying in and out of the baggage of the transportation facility 20 may be shifted. Therefore, as the wear of the wheel, the weight of the passenger, the weight of the baggage, etc. are changed, the height of the bottom surface for carrying in and out of the baggage of the first transportation facility 20 or the bottom surface 101 of the railway vehicle 100 is changed. Even if, the baggage transport apparatus 1 according to the present invention can be maintained in a state capable of smoothly transporting the baggage by moving one side of the conveyor 2 according to the changed height. One side of the conveyor 2 may be coupled to the support mechanism 23 for being supported by the railroad vehicle (100). The falling position sensor 11 may be coupled to the support mechanism 23.
Referring to FIG. 6, the winch motor 33 rotates the winch pulley 32 so that the wire 31 is wound around the winch pulley 32, thereby rotating the conveyor 2 to the lifted position. You can. The winch motor 33 may rotate the conveyor 2 to the lowered position by rotating the winch pulley 32 so that the wire 31 is released from the winch pulley 32. The winch motor 33 further rotates the winch pulley 32 in a direction in which the wire 31 is released from the winch pulley 32 after one side of the conveyor 2 is supported by the railway vehicle 100. You can. Therefore, the baggage transport apparatus 1 according to the present invention loosens the wire 31 after one side of the conveyor 2 is supported by the railroad vehicle 100, whereby the bottom surface of the railroad vehicle 100 ( 101) Alternatively, one side of the conveyor 2 may be smoothly moved as the height of the floor surface for carrying in and out of the baggage of the first transportation facility 20 is changed.
Referring to FIG. 7, the mobile unit 5 may move the conveyor 2 such that one side of the conveyor 2 is positioned at an entry position into which the railway vehicle 100 may enter. The entry position is a position where one side of the conveyor 2 can enter the railway vehicle 100 through the open space 200, and one side of the conveyor 2 is connected to the railway vehicle 100. It is a position that can be moved inside the railway vehicle 100 without colliding. Therefore, the baggage transport apparatus 1 according to the present invention prevents the conveyor 2 from colliding with the railroad vehicle 100 while one side of the conveyor 2 enters the railroad vehicle 100. can do. In the case where the PSD (300, Platform Screen Door) is installed in the station, the entrance position is that one side of the conveyor (2) does not collide with the railway vehicle 100 and the PSD (300) inside the railway vehicle (100) It may be a location that can be moved to. The open space 200 may be a space formed as the doors installed in the railway vehicle 100 and the PSD 300 are opened.
The moving unit 5 moves the conveyor 2 in the first direction (A arrow direction) or the second direction (B arrow direction). The first direction (A arrow direction) and the second direction (B arrow direction) may be directions parallel to the direction in which the railroad vehicle 100 is driven. As the moving mechanism 52 moves the moving member 51, the conveyor 2 may be moved in the first direction (A arrow direction) or the second direction (B arrow direction).
Referring to FIGS. 7 and 8, the control unit 4 uses the stop information regarding the position where the railroad vehicle 100 is stopped so that the conveyor 2 is positioned at the entry position. ) Can be controlled. The stop information may be provided from the stop information transmitting means 400. The stop information transmitting means 400 may be installed in the railway vehicle 100, the station, or the like, and obtains the stop information by using a distance at which the railway vehicle 100 is stopped from a reference stop position. can do. For example, the stop information transmitting means 400 may include optical sensors installed at the station spaced apart at predetermined intervals in the direction in which the railroad vehicle 100 operates. The light sensors may include a light emitting sensor and a light receiving sensor, respectively. The stop information transmitting means 400 checks the position of the light sensor in which the light emitted from the light emitting sensor is not received in the light receiving sensor as the railroad vehicle 100 is positioned between the light emitting sensor and the light receiving sensor. , The stop information may be obtained. The stop information transmitting means 400 may include a distance sensor installed at the station. The stop information transmitting means 400 may obtain the stop information by the distance sensor confirming a distance to the railroad vehicle 100.
The control unit 4 may control the mobile unit 5 to move the conveyor 2 to the entry position by using the stop information. When the conveyor 2 is located at the entry position, the control unit 4 controls the moving unit 5 so that the conveyor 2 is stopped, and the conveyor 2 is lowered from the rising position. The winch 3 can be controlled to rotate in position. When the conveyor 2 is located at the lowered position, the control unit 4 controls the winch 3 to stop the conveyor 2 and controls the conveyor 2 to transport the baggage. Can be. When the transportation of the baggage is completed, the control unit 4 may control the winch 3 so that the conveyor 2 is rotated from the lowered position to the raised position.
Referring to FIG. 8, the baggage transport device 1 according to the present invention may further include an acquisition unit 6.
The acquiring unit 6 acquires entry position information regarding whether the conveyor 2 is located at the entry position. The control unit 4 may control the mobile unit 5 so that the conveyor 2 is located at the entry position using the entry position information. The acquisition unit 6 may include a sensor unit 61 and a reflection unit 62.
The sensor unit 61 emits light for obtaining the entry position information. The sensor unit 61 may receive light reflected by the reflection unit 62. The sensor unit 61 may be a laser photo sensor and emit a laser beam for obtaining the entry position information.
Referring to FIG. 9, the reflection unit 62 may reflect light emitted from the sensor unit 61. The reflection unit 62 is installed in the railroad vehicle 100 or the mobile unit 5. When the reflection unit 62 is installed in the railway vehicle 100, the sensor unit 61 is installed in the mobile unit 5. When the reflection unit 62 is installed in the mobile unit 5, the sensor unit 61 is installed in the railroad vehicle 100. Accordingly, the relative position between the reflective unit 62 or the sensor unit 61 may vary according to the position where the railroad vehicle 100 is stopped. Accordingly, the light emitted from the sensor unit 61 is received by the sensor unit 61 when the railway vehicle 100 is reflected by the reflection unit 62 according to the position where the railroad vehicle 100 is stopped. If the light is not reflected to the sensor unit 61, the sensor unit 61 is not received by the sensor unit 61. The acquiring unit 6 may acquire the entry position information depending on whether light is received by the sensor unit 61.
Here, referring to FIG. 9, the reflection unit 62 is installed on the railroad vehicle 100 and the sensor unit 61 is installed on the moving unit 5. Installed in the mobile unit 5 and the sensor unit 61 has an advantage that can reduce the material cost compared to the installed in the railway vehicle (100). Since the sensor unit 61 has a higher unit cost than the reflective unit 62, when the sensor unit 61 is installed for each railway vehicle 100, the reflective unit 62 for each railway vehicle 100 is provided. This is because the cost of materials increases compared to the installation of). When the reflection unit 62 is installed in the railroad vehicle 100, the reflection unit 62 may be installed to be positioned inside the railroad vehicle 100. For example, the reflection unit 62 may be installed in the first transportation facility 20 inside the railroad vehicle 100 to transport luggage. The sensor unit 61 may be installed on the moving member 51 of the mobile unit 5 so that the sensor unit 61 may move together with the conveyor 2. Although not shown, the sensor unit 61 may be installed in another configuration provided in the baggage transport apparatus 1 according to the present invention in addition to the mobile unit 5. For example, the sensor unit 61 may be installed on the conveyor 2.
Referring to FIG. 9, the reflection unit 62 has a height 62H sufficient to reflect the light emitted from the sensor unit 61 even if the height of the bottom surface 101 of the railway vehicle 100 is varied. It can be formed to have a size. For example, the height 62H of the reflection unit 62 may be determined by Equation 1 below.
[Equation 1] e = y + v
In Equation 1, e is the height 62H of the reflection unit 62, y is the maximum variation distance with respect to the height of the bottom surface 101 of the railroad vehicle 100, v is a margin value. The margin value is that the light emitted from the sensor unit 61 is reflected by the edge of the reflection unit 62 when the bottom surface 101 of the railroad vehicle 100 is changed to the maximum height or the minimum height. In order to prevent a sufficient amount of light from being received by the sensor unit 61. For example, when the maximum variation distance y is 65 mm, the margin value v may be 35 mm, and thus the height 62H of the reflection unit 62 may be set to 100 mm.
Referring to FIG. 10, the sensor unit 61 may include a first sensor 611 installed in the mobile unit 5. The reflection unit 62 may include a first reflection mechanism 621 installed in the railroad vehicle 100. The first sensor 611 and the first reflecting mechanism 621 may be installed so as to face each other when the conveyor 2 is located in the entry position. Accordingly, when the conveyor 2 is located at the entry position, the light emitted from the first sensor 611 may be reflected by the first reflecting mechanism 621 to be received by the first sensor 611. have. The control unit 4 is configured to stop the conveyor 2 when the light emitted from the first sensor 611 is reflected by the first reflector 621 and received by the first sensor 611. The mobile unit 5 can be controlled. If the light emitted from the first sensor 611 is not received by the first sensor 611, the control unit 4 may control the moving unit 5 to move the conveyor 2. . Therefore, the baggage transport apparatus 1 according to the present invention can accurately move the conveyor 2 to the entry position, and thus the conveyor 2 is connected to the railway vehicle 100 and the PSD 300. Without colliding, the railroad vehicle 100 can be accurately positioned at a position that can be entered. In this case, the moving direction information to be moved in order for the conveyor 2 to be located at the entry position may be provided from the stop information transmitting means 400 (shown in FIG. 8).
Referring to FIG. 11, the length 621L of the first reflecting mechanism 621 may be determined by Equation 2 below.
Equation 2 a ≤ (w-z) X 2
In Equation 2, a is the length 621L of the first reflecting mechanism 621, w is the tolerance for the position change by vibration, push, etc. when the conveyor 2 is stopped at the entry position The value z is the diameter of the light emitted by the first sensor 611. When the first sensor 611 emits a laser beam, z may be a spot diameter of the laser beam. The length 621L of the first reflecting mechanism 621 may be set to a value less than or equal to the value calculated by Equation 2 using the tolerance value w and the diameter z of the light. . For example, when the tolerance value w is 5 mm and the diameter z of the light is 1 mm, the length 612L of the first reflecting mechanism 621 may be set to a value less than or equal to 8 mm. . As the length 612L of the first reflecting mechanism 612 is reduced, an error range generated when the conveyor 2 is stopped at the entry position can be reduced. That is, by reducing the length 612L of the first reflecting mechanism 612, it is possible to improve the accuracy of the conveyor 2 is stopped at the entry position. For example, when the length 612L of the first reflecting mechanism 621 is 5 mm, as a result, the tolerance value w becomes 로 2.5 mm, so that the conveyor 2 is stopped at the entry position. Can improve the accuracy.
10 to 13, the acquisition unit 6 (shown in FIG. 8) may obtain the movement direction information. The control unit 4 determines the moving direction for moving the conveyor 2 to the entry position using the moving direction information, and moves the moving unit (2) to move the conveyor 2 in the determined moving direction. 5) can be controlled. In order to obtain the movement direction information, the sensor unit 61 may further include a second sensor 612 and a third sensor 613, the reflection unit 62 is a second reflecting mechanism 622 And a third reflecting mechanism 623.
The second sensor 612 may be installed in the mobile unit 5 to be spaced apart from the first sensor 611 in the first direction (A arrow direction). The third sensor 613 may be installed in the mobile unit 5 to be spaced apart from the first sensor 611 in the second direction (B arrow direction). That is, the first sensor 611 may be located between the second sensor 612 and the third sensor 613.
The second reflecting mechanism 622 may be installed in the railroad vehicle 100 to be spaced apart from the first reflecting mechanism 621 in the first direction (A arrow direction). The third reflecting mechanism 623 may be installed in the railway vehicle 100 to be spaced apart from the first reflecting mechanism 621 in the second direction (B arrow direction). That is, the first reflecting mechanism 621 may be located between the second reflecting mechanism 622 and the third reflecting mechanism 623.
As shown in FIG. 12, the second reflecting mechanism 622 and the second sensor 612 are located at a position in which the railroad vehicle 100 is spaced apart from the entry position in the first direction (A arrow direction). When stopped, the light emitted from the second sensor 612 may be installed to be positioned at a position where the light emitted from the second sensor 612 may be reflected by the second reflector 622 and received by the second sensor 612. The second reflecting mechanism 622 and the second sensor 612, the light emitted from the second sensor 612 when the conveyor 2 is located in the entry position, as shown in FIG. The second reflecting mechanism 622 may be installed to be positioned at a position that is not reflected.
As shown in FIG. 13, the third reflecting mechanism 623 and the third sensor 613 are located at a position spaced apart in the second direction (B arrow direction) from the entrance position. When stopped, the light emitted from the third sensor 613 may be installed to be positioned at a position where the light emitted from the third sensor 613 is reflected by the third reflector 623 and received by the third sensor 613. The third reflecting mechanism 623 and the third sensor 613, the light emitted from the third sensor 613 when the conveyor 2 is located in the entry position, as shown in FIG. The third reflector 622 may be installed to be positioned at a position that is not reflected.
When the control unit 4 receives light from either the second sensor 612 or the third sensor 613, the control unit 4 determines a moving direction for moving the conveyor 2 to the entry position therefrom. And, it is possible to control the moving unit 5 so that the conveyor 2 is moved in the determined moving direction. When the light is received by the second sensor 612, the control unit 4 may control the moving unit 5 such that the conveyor 2 moves in the first direction (A arrow direction). When the light is received by the third sensor 613, the control unit 4 may control the moving unit 5 to move the conveyor 2 in the second direction (B arrow direction). When light is received by the first sensor 611 after the conveyor 2 is moved in the determined movement direction, the control unit 4 controls the mobile unit 5 to stop the conveyor 2. can do. In this case, light may not be received by the second sensor 612 and the third sensor 613. Accordingly, the baggage transport apparatus 1 according to the present invention may determine the moving direction for the conveyor 2 to be positioned at the entry position by using the sensor unit 61 and the reflection unit 62. The conveyor 2 can be accurately positioned at the entry position.
10 and 11, the length 622L of the second reflecting mechanism 622 and the length 623L of the third reflecting mechanism 623 are determined by the conveyor 2 being connected to the PSD 300. Considering the maximum travel distance that the conveyor 2 can be moved in the first direction (A arrow direction) or the second direction (B arrow direction) to enter the railway vehicle 100 without colliding. Can be determined. The length 622L of the second reflecting mechanism 622 and the length 623L of the third reflecting mechanism 623 may be determined by Equation 3 below.
Equation 3 d> f
In Equation 3, d is the length 622L of the second reflecting mechanism 622 and the length (623L) of the third reflecting mechanism 623, f is the conveyor 2 in the first direction (A) Arrow direction) or the maximum movement distance that can be moved in the second direction (B arrow direction). For example, the maximum moving distance is 390 mm in the first direction (A arrow direction) when the conveyor 2 is located at an intermediate position of the open space 200 formed by the PSD 300, and the second direction. 390 mm in the direction of the arrow B). That is, when the conveyor 2 is located at an intermediate position of the open space 200 formed by the PSD 300, the conveyor 2 is in the first direction (A arrow direction) or the second direction ( When moving in excess of 390 mm in the direction of arrow B, the conveyor 2 may collide with the PSD 300 in the process of being rotated to enter the railway vehicle 100. The length 622L of the second reflecting mechanism 622 and the length 623L of the third reflecting mechanism 623 may be set to a length larger than the maximum moving distance, for example, 400 mm.
Referring to FIG. 14, the control unit 4 may control the moving unit 5 such that the moving speed at which the conveyor 2 moves to be positioned at the entry position is adjusted. Therefore, the baggage transport apparatus 1 according to the present invention can reduce the time taken for the conveyor 2 to be located at the entry position, and can accurately stop the conveyor 2 at the entry position. Specifically, it is as follows.
First, if the speed at which the mobile unit 5 moves the conveyor 2 to position the conveyor 2 in the entry position is too high, the mobile unit 5 stops the conveyor 2. Even if the conveyor (2) can be stopped outside the entry position by the vibration generated during the stop. On the other hand, in order to prevent the conveyor 2 from being stopped outside of the entry position due to vibration generated during stop, etc., if the moving unit 5 reduces the speed of moving the conveyor 2, the conveyor 2 The time taken for the to be located at the entry position is increased.
In order to solve the problem as described above, the control unit 4 controls the mobile unit 5 so that the conveyor 2 is moved to the first moving speed and then decelerated to stop after moving to the second moving speed. can do. The second moving speed is a speed at which the vibration does not occur to the extent that the conveyor 2 is out of the position where the conveyor 2 should be stopped when the mobile unit 5 stops the conveyor 2. Therefore, the baggage transport apparatus 1 according to the present invention can reduce the time taken to transport the baggage by reducing the time taken for the conveyor 2 to move to the entry position. In addition, the baggage transport apparatus 1 according to the present invention reduces the speed at which the conveyor 2 moves when the conveyor 2 approaches the entry position, whereby the conveyor 2 stops accurately at the entry position. You can do that.
Referring to FIGS. 10 and 14, the control unit 4 moves the control unit 4 such that the moving speed at which the conveyor 2 moves to be positioned at the entry position is adjusted according to the position at which the railway vehicle 100 is stopped. The unit 5 can be controlled.
When the control unit 4 receives light from either the second sensor 612 or the third sensor 613 and the first sensor 611, the railroad vehicle 100 is the reference stop position. It is determined that the vehicle is stopped at a position separated by a considerable distance from the vehicle. Accordingly, the control unit 4 may control the moving unit 5 such that the conveyor 2 moves at a first moving speed faster than the second moving speed. If no light is received by the first sensor 611, and only light is received by either the second sensor 612 or the third sensor 613, the control unit 4 may be connected to the conveyor ( 2) may control the mobile unit 5 to be decelerated at the first moving speed to move to the second moving speed. If light is not received by the second sensor 612 and the third sensor 613, and light is received only by the first sensor 611, the control unit 4 moves at the second moving speed. The moving unit 5 can be controlled so that the conveyor 2 is stopped.
When the light is not received by the first sensor 611 and only one of the second sensor 612 or the third sensor 613 is received, the control unit 4 receives the railway vehicle 100. ) Is determined to be stopped at a position spaced at a distance close to the reference stop position. Accordingly, the control unit 4 may control the moving unit 5 such that the conveyor 2 stops after being moved only at the second moving speed. When the light is received only by the first sensor 611, the control unit 4 may control the moving unit 5 to stop the conveyor 2 moving at the second moving speed.
Looking at the operation relationship in which the control unit 4 determines the moving speed of the conveyor (2), the moving direction of the conveyor (2), as follows.
For example, as shown in FIG. 14, when light is received by the second sensor 612 and the first sensor 611, the control unit 4 receives light received by the second sensor 612. The moving direction is determined so that the conveyor 2 moves in the first direction (A arrow direction). The control unit 4 determines the moving speed so that the conveyor 2 moves at the first moving speed from the light received by the first sensor 611. In this case, the second sensor 612 may receive light reflected by the second reflector 622, and the first sensor 611 may receive light reflected by the third reflector 623. I can receive it. If the light is received by the second sensor 612 and the light is not received by the first sensor 611 after the conveyor 2 is moved, the control unit 4 causes the conveyor 2 to The moving unit 5 may be controlled to be decelerated at the first moving speed and moved at the second moving speed. The first reflecting mechanism 621 and the third reflecting mechanism 623 have a distance 621a greater than the distance moved in the process of the conveyor 2 decelerating from the first moving speed to the second moving speed. Can be installed spaced apart.
Although not shown, when light is received by the third sensor 613 and the first sensor 611, the control unit 4 receives the conveyor from the light received by the third sensor 613. The moving direction is determined so that 2) moves in the second direction (B arrow direction). The control unit 4 determines the moving speed so that the conveyor 2 moves at the first moving speed from the light received by the first sensor 611. In this case, the third sensor 613 may receive the light reflected by the third reflector 623, and the first sensor 611 may receive the light reflected by the second reflector 622. I can receive it. After the conveyor 2 is moved, if the light is received by the third sensor 613 and the light is not received by the first sensor 611, the control unit 4 is the conveyor 2 is the The mobile unit 5 may be controlled to decelerate from the first moving speed to the second moving speed. The first reflecting mechanism 621 and the second reflecting mechanism 622, the distance 621b greater than the distance that the conveyor 2 is moved in the process of decelerating from the first moving speed to the second moving speed Can be installed spaced apart.
10 to 13, the sensor unit 61 may further include a first auxiliary sensor 614 and a second auxiliary sensor 615.
The first auxiliary sensor 614 is installed in the mobile unit 5 to be positioned between the first sensor 611 and the second sensor 612. The second auxiliary sensor 615 is installed in the mobile unit 5 to be positioned between the first sensor 611 and the third sensor 613. The control unit 4 stops the conveyor 2 when no light is received by the first auxiliary sensor 614 and the second auxiliary sensor 615 and light is received by the first sensor 611. It is possible to control the mobile unit 5 to be. Accordingly, the baggage transport apparatus 1 according to the present invention may determine a moving direction for the conveyor 2 to be positioned at the entry position by using the second sensor 612 and the third sensor 613. After the conveyor 2 is moved in the determined movement direction, the conveyor 2 is moved by using the first sensor 611, the first auxiliary sensor 614, and the second auxiliary sensor 615. It can be stopped at the entry position. Specifically, it is as follows.
First, the control unit 4 determines the moving direction according to whether light is received by either the second sensor 612 or the third sensor 613, and the conveyor 2 determines the The mobile unit 5 can be controlled to move in the moving direction. When light is received by the second sensor 612, the control unit 4 may control the moving unit 5 so that the conveyor 2 moves in the first direction (A arrow direction). . When light is received by the third sensor 613, the control unit 4 may control the moving unit 5 so that the conveyor 2 moves in the second direction (B arrow direction). .
Next, after the conveyor 2 is moved in the determined movement direction, the control unit 4 is connected to the first sensor 611, the first auxiliary sensor 614, and the second auxiliary sensor 615. The moving unit 5 can be controlled so that the conveyor 2 stops at the entry position depending on whether light is received. The control unit 4 has the conveyor 2 until light is received by the first sensor 611 and no light is received by both the first and second auxiliary sensors 614 and 615. ) May be controlled so that the moving unit 5 moves in the determined moving direction. When light is received by the first sensor 611 and light is not received by both the first and second auxiliary sensors 614 and 615, the control unit 4 is connected to the conveyor 2. The mobile unit 5 can be controlled to stop.
Therefore, the baggage transport apparatus 1 according to the present invention performs a task for determining the moving direction of the conveyor 2 and a task for stopping the conveyor 2 at the entry position by using separate sensors. In addition, even if the position where the railroad vehicle 100 is stopped serves as various variables, the conveyor 2 may be accurately positioned at the entry position.
Referring to FIG. 11, a position at which the first auxiliary sensor 614 is installed may be defined by a distance 614a from which the first auxiliary sensor 614 is spaced apart from the second reflecting mechanism 622. . The distance 614a from which the first auxiliary sensor 614 is spaced apart from the second reflecting mechanism 622 may be determined by Equation 4 below.
Equation 4 b = (a / 2 + z)
In Equation 4, b is a distance 614a of the first auxiliary sensor 614 spaced apart from the second reflecting mechanism 622, a is a length 621L of the first reflecting mechanism 621, z Is the diameter of light emitted by the first auxiliary sensor 614. When the first auxiliary sensor 614 emits a laser beam, z may be the spot diameter of the laser beam. For example, when the length 621L of the first reflecting mechanism 621 is 5 mm and the diameter of the light emitted by the first auxiliary sensor 614 is 1 mm, as described in Equation 2, the first auxiliary The position at which the sensor 614 is installed may be a position 3.5 mm away from the second reflecting mechanism 622.
Here, the distance 621b between the second reflecting mechanism 622 and the first reflecting mechanism 621 may be determined by Equation 5 below. As described above, the distance 621b at which the second reflecting mechanism 622 and the first reflecting mechanism 612 are spaced apart is the second movement at which the conveyor 2 is slower than the first moving speed. It is a section moving at speed.
Equation 5 c = k-a / 2 + b
In Equation 5, c is the distance 621b between the second reflecting mechanism 622 and the first reflecting mechanism 621, k is the first sensor 611 and the first auxiliary sensor 614. Is a distance 614b spaced apart from each other, a is a length 621L of the first reflecting mechanism 621, and b is a distance 614a from which the first auxiliary sensor 614 is spaced apart from the second reflecting mechanism 622. )to be. For example, the distance 614b between the first sensor 611 and the first auxiliary sensor 614 may be 56.5 mm. As shown in Equation 2, the length 621L of the first reflecting mechanism 621 is 5 mm, and as shown in Equation 4, the first auxiliary sensor 614 is the second reflecting mechanism. When the distance 614a spaced apart from 622 is 3.5 mm, the distance 621b spaced apart from the second reflection mechanism 622 and the first reflection mechanism 621 may be 57.5 mm.
Referring to FIG. 11, a position at which the second auxiliary sensor 615 is installed may be defined by a distance 615a from which the second auxiliary sensor 615 is spaced apart from the third reflecting mechanism 623. . The distance 615a from which the second auxiliary sensor 615 is spaced apart from the third reflecting mechanism 623 may be determined by Equation 4. In Equation 4, b is a distance 614a of the second auxiliary sensor 615 spaced apart from the third reflecting mechanism 623, and z is a diameter of light emitted by the second auxiliary sensor 615. When the second auxiliary sensor 615 emits a laser beam, z may be the spot diameter of the laser beam. For example, as shown in Equation 2, when the length 621L of the first reflecting mechanism 621 is 5 mm and the diameter of the light emitted by the second auxiliary sensor 615 is 1 mm, the second auxiliary The position at which the sensor 615 is installed may be a position 3.5 mm away from the third reflection mechanism 623.
Here, the distance 621a between the third reflecting mechanism 623 and the first reflecting mechanism 621 may be determined by the equation (5). As described above, the distance 621a at which the third reflecting mechanism 622 and the first reflecting mechanism 612 are spaced apart from the second movement at which the conveyor 2 is slower than the first moving speed. It is a section moving at speed. In Equation 5, c is a distance 621a between the third reflecting mechanism 623 and the first reflecting mechanism 621, k is the first sensor 611 and the second auxiliary sensor 615. B) is a distance 615b spaced apart from each other, and b is a distance 615a from which the second auxiliary sensor 615 is spaced apart from the third reflection mechanism 623. For example, the distance 615b between the first sensor 611 and the second auxiliary sensor 615 may be 56.5 mm. As described in Equation 2, the length 621L of the first reflecting mechanism 621 is 5 mm, and as shown in Equation 4, the second auxiliary sensor 615 is used as the second reflecting mechanism. When the distance 615a spaced apart from 622 is 3.5 mm, the distance 621a spaced apart from the third reflection mechanism 623 and the first reflection mechanism 621 may be 57.5 mm.
Here, since the conveyor 2, the winch 3 and the like have a considerable weight, vibration, slip, etc. may occur in the process of stopping the conveyor 2 while moving. Accordingly, even when the control unit 4 confirms that the conveyor 2 is located at the entry position by using the sensor unit 61 and stops the mobile unit 5, the vibration as described above. , The conveyor 2 can be stopped outside the entry position by slipping or the like. In this case, if the PSD 300 is installed, the position of the PSD 300 is not changed even if the position where the railroad vehicle 100 is stopped is changed. Accordingly, if the conveyor 2 is not stopped at the entry position correctly, there is a risk that the conveyor 2 may collide with the PSD 300 in the process of being moved into the railway vehicle 100. In consideration of this, the control unit 4 does not receive light from the first sub-sensor 614 and the second sub-sensor 615, the state in which the light is received by the first sensor 611 is set If maintained over time, the winch 3 may be controlled such that one side of the conveyor 2 is moved into the railway vehicle 100. The set time is a time range in which the conveyor 2 can be determined to be located at the entry position, and may be, for example, a time range of 200 ms or more and 500 ms or less. Therefore, the baggage transport apparatus 1 according to the present invention can accurately position the conveyor 2 at the entry position, and thus the conveyor 2 does not collide with the PSD 300 without causing the railway vehicle ( 100) can be moved inside.
Referring to FIG. 15, the sensor unit 61 according to the modified embodiment of the present invention may include a second sensor 612 and a third sensor 613 that are spaced apart from each other in the mobile unit 5. . The reflection unit 62 may include a first reflection mechanism 621 installed in the railroad vehicle 100. The second sensor 612 and the third sensor 613 is a light emitted from the second sensor 612 and the third sensor 613 when the conveyor 2 is located in the entry position The first reflecting mechanism 621 may be spaced apart from the distance 612a that is not reflected. The first reflecting mechanism 621 may have a length 621L that is smaller than the distance 612a from which the second sensor 612 and the third sensor 613 are spaced apart.
The control unit 4 may control the mobile unit 5 to move the conveyor 2 when light is received by either the second sensor 612 or the third sensor 613. When light is received by the second sensor 612, the control unit 4 may control the moving unit 5 to move the conveyor 2 in the first direction (A arrow direction). . When light is received by the third sensor 613, the control unit 4 may control the moving unit 5 so that the conveyor 2 moves in the second direction (B arrow direction). . When light is not received by both the second sensor 612 and the third sensor 613, the control unit 4 may control the moving unit 5 to stop the conveyor 2. . Accordingly, the baggage transport apparatus 1 according to the present invention can reduce the number of the sensors and the reflecting mechanism in comparison with the above-described embodiment, while determining the direction of movement for the conveyor 2 to be located at the entry position. And the conveyor 2 can be stopped at the entry position.
Referring to FIG. 16, the luggage transport apparatus 1 according to the present invention may further include a first proximity sensor 13 and a bracket 14. In FIG. 16, the conveyor 2 illustrates a state located outside the railway vehicle 100.
The first proximity sensor 13 may detect the bracket 14 to obtain reference information for positioning the conveyor 2 at a reference position. The reference position may be an intermediate position of the open space 200 formed as the PSD 300 is opened. The first proximity sensor 13 may be installed at the station so as to be positioned at a position capable of detecting the bracket 14. The first proximity sensor 13 may be installed on a mechanism provided at the station so as to be positioned at a position capable of detecting the bracket 14.
The bracket 14 may be coupled to the mobile unit 5. The bracket 14 may move as the conveyor 2 moves. The bracket 14 is protruded to the mobile unit 5 so that the first proximity sensor 13 can detect the bracket 14 when the conveyor 2 is positioned at the reference position. Can be. For example, the bracket 14 may be formed in a rectangular plate shape as a whole, and may be coupled to the mobile unit 5 to protrude downward from the mobile unit 5. The first proximity sensor 13 may acquire the reference information by detecting that the bracket 14 is moved within a predetermined distance as the conveyor 2 moves.
When the conveyor 2 completes the transportation for the baggage and is located outside of the railway vehicle, the control unit 4 moves the conveyor 2 to move to the reference position using the reference information. The unit 5 can be controlled. The control unit 4 may control the mobile unit 5 to move the conveyor 2 until the first proximity sensor 13 detects the bracket 14. When the first proximity sensor 13 detects the bracket 14, the control unit 4 may control the moving unit 5 to stop the conveyor 2. Accordingly, since the baggage transport apparatus 1 according to the present invention may allow the conveyor 2 to wait in a state in which the conveyor 2 is located at the reference position, the conveyor 2 according to the position at which the railway vehicle 100 is stopped. ) Can reduce the distance for moving to the entry position.
Referring to FIG. 16, if the PSD 300 is installed, the position of the PSD 300 is not changed even if the position where the railroad vehicle 100 is stopped is changed. Accordingly, the conveyor 2 may be located at a position that may collide with the PSD 300 even when the conveyor 2 does not collide with the railway vehicle 100 in the process of being moved into the railway vehicle 100. In order to prevent this, the baggage transport apparatus 1 according to the present invention may further include a second proximity sensor 15 and a third proximity sensor 16.
The second proximity sensor 15 may detect the bracket 14. The second proximity sensor 15 may detect that the bracket 14 is moved within a predetermined distance as the conveyor 2 is moved. The second proximity sensor 15 may be installed at the station so as to be located at a position spaced apart from the first proximity sensor 13 in the first direction (A arrow direction). The second proximity sensor 15 impinges the conveyor 2 on the PSD 300 while the conveyor 2 is moved in the first direction (A arrow direction) to be located at the entry position. If it is located in a position where it can be, it can be installed to be located in a position that can detect the bracket (14).
The third proximity sensor 16 may detect the bracket 14. The third proximity sensor 16 may detect that the bracket 14 is moved within a predetermined distance as the conveyor 2 is moved. The third proximity sensor 16 may be installed to be spaced apart from the second proximity sensor 15 in the direction in which the conveyor 2 moves. The third proximity sensor 16 may be installed at the station so as to be located at a position spaced apart from the first proximity sensor 13 in the second direction (B arrow direction). The third proximity sensor 16, the conveyor 2 collides with the PSD 300 in the process of moving the conveyor 2 in the second direction (B arrow direction) to be located in the entry position. If it is located in a position where it can be, it can be installed to be located in a position that can detect the bracket (14). The third proximity sensor 16 and the second proximity sensor 15 may be installed on a mechanism provided at the station so as to be positioned at a position capable of detecting the bracket 14.
When the control unit 4 detects the bracket 14 by either the second proximity sensor 15 or the third proximity sensor 16, the conveyor 2 moving to the entry position is stopped. The mobile unit 5 can be controlled. Accordingly, the baggage transport apparatus 1 according to the present invention may block the conveyor 2 from being moved to a position that may collide with the PSD 300 in the process of being moved into the railway vehicle 100. .
Referring to FIG. 16, the luggage transport apparatus 1 according to the present invention may further include a first limit switch 17 and a second limit switch 18.
The first limit switch 17 may be installed at a position where the first limit switch 17 may be in contact with the bracket 14 at the station. The first limit switch 17 may be installed at a position spaced apart from the second proximity sensor 15 in the first direction (A arrow direction). The first limit switch 17 may be located at a limit point moving in the first direction (A arrow direction). The first limit switch 17 may be rotatably installed at the station. If the conveyor 2 continues to move in the first direction (A arrow direction) after the bracket 14 is in contact with the first limit switch 17, the first limit switch 17 is moved to the bracket. It can be pushed by 14 to rotate. When the first limit switch 17 is rotated, the control unit 4 may control the moving unit 5 to stop the conveyor 2.
The second limit switch 18 may be installed at the station so as to be positioned at a position where the second limit switch 18 may be in contact with the bracket 14. The second limit switch 18 may be installed at a position spaced apart from the third proximity sensor 16 in the second direction (B arrow direction). The second limit switch 16 may be located at a limit point moving in the second direction (B arrow direction). The second limit switch 18 may be rotatably installed at the station. If the conveyor 2 continues to move in the second direction (B arrow direction) after the bracket 14 is in contact with the second limit switch 18, the second limit switch 18 is moved to the bracket. It can be pushed by 14 to rotate. When the second limit switch 18 is rotated, the control unit 4 may control the moving unit 5 to stop the conveyor 2. Accordingly, the baggage transport apparatus 1 according to the present invention may include the second proximity sensor 15, the third proximity sensor 16, the first limit switch 17, and the second limit switch 18. By using the conveyor 2 can be blocked to move to a position that can collide with the PSD (300). The second limit switch 18 and the first limit switch 17 may be installed on a mechanism provided in the station so as to be in contact with the bracket 14.
Referring to FIG. 17, the baggage transport apparatus 1 according to the present invention may include a first transport facility 20 and a second transport facility 30. In FIG. 17, the conveyor 2 illustrates a state in which one side is positioned inside the railway vehicle 100.
The first transportation facility 20 is installed inside the railway vehicle 100. The first transportation facility 20 includes a plurality of first rollers 20a and a first operating mechanism 20b. The first actuating mechanism 20b may transport the baggage by rotating the first rollers 20a about respective rotation shafts. When the conveyor 2 is located inside the railway vehicle 100, one side of the conveyor 2 may be connected to the first transportation facility 20. As the first operating mechanism 20b rotates the first rollers 20a while the conveyor 2 is located inside the railway vehicle 100, the baggage is stored in the first transportation facility 20. ) May be transported to the conveyor 2, and may be transported from the conveyor 2 to the first transportation facility 20.
The second transportation facility 30 may be installed outside the railway vehicle. The second transportation facility 30 may include a plurality of second rollers 30a and a second operating mechanism 30b. The second actuating mechanism 30b may transport the baggage by rotating the second rollers 30a about their respective rotation axes. When the conveyor 2 is located inside the railway vehicle 100, the other side of the conveyor 2 may be connected to the second transportation facility 30. As the second operating mechanism 30b rotates the second rollers 30a while the conveyor 2 is located inside the railway vehicle 100, the baggage is stored in the second transportation facility 30. ) May be transported to the conveyor 2, and may be transported from the conveyor 2 to the second transportation facility 30. The second roller 30a may be formed to have a longer length in the longitudinal direction than the conveyor 2. Accordingly, even if the conveyor 2 is moved in the first direction (A arrow direction) or the second direction (B arrow direction) according to the position where the railroad vehicle 100 is stopped, the second transportation facility ( 30 can transport the baggage in conjunction with the conveyor 2 without movement.
Referring to FIG. 17, the baggage transport device 1 according to the present invention may include a guide mechanism 40 and a connection mechanism 50.
The guide mechanism 40 is installed to be movable in the second transportation facility (30). The guide mechanism 40 guides the carriage of the baggage. The guide mechanism 40 may be formed long in the direction in which the baggage is transported. The conveyor 2 may further include a guide member 24 for guiding the baggage to be transported. The guide member 24 may be formed long in the direction in which the baggage is transported. The baggage may be stably transported by the guide member 24 and the guide mechanism 40.
The connecting mechanism 50 may connect the mobile unit 5 and the guide mechanism 40. Accordingly, when the moving unit 5 moves the conveyor 2 to position the conveyor 2 in the entry position, the guide mechanism 40 interlocks with the movement of the conveyor 2. Can be moved. Therefore, the baggage transport apparatus 1 according to the present invention can stably transport the baggage by moving the guide mechanism 40 according to the position where the railroad vehicle 100 is stopped.
The connecting mechanism 50 includes a ball screw 50a to which the guide mechanism 40 is fastened and a chain 50b connecting the ball screw 50a and the ball screw 521 of the mobile unit 5 to each other. can do. The chain 50b may be moved as the ball screw 521 of the mobile unit 5 is rotated, and the ball screw 50a of the connection mechanism 50 is rotated as the chain 50b is moved. As a result, the guide mechanism 40 may be moved. Although not shown, the connecting mechanism 50 may include other components in addition to the ball screw 50a as long as it can move the guide mechanism 40, and may include, for example, a rack gear and a pinion gear. have. The connecting mechanism 50 may include other components in addition to the chain 50b as long as it can connect the guide mechanism 40 and the mobile unit 5, for example, may include a belt or the like.
Hereinafter, with reference to the accompanying drawings a preferred embodiment of the baggage transportation method according to the present invention will be described in detail.
18 is a flowchart of a baggage transportation method according to the present invention, and FIG. 19 is a flowchart of a baggage transportation method according to a modified embodiment of the present invention.
1 to 18, the baggage transportation method according to the present invention may transport baggage using the baggage transportation device 1 described above. Baggage transportation method according to the present invention may include the following configuration.
First, the conveyor 2 is moved so that the conveyor 2 is located at an entry position into which the vehicle can enter (S1). This step (S1) is performed by the mobile unit 5 moves the conveyor 2 in the first direction (A arrow direction) or the second direction (B arrow direction) according to the position where the vehicle is stopped. Can be. The vehicle may be a railroad vehicle 100. Entry position information regarding whether the conveyor 2 is located at the entry position may be provided by at least one of the stop information transmitting means 400 or the acquisition unit 6. The control unit 4 detects the entry position information from at least one of the stop information transmitting means 400 or the acquisition unit 6, and the conveyor 2 uses the entry position information to determine the entry position. The mobile unit 5 can be controlled to move to. When the conveyor 2 is located at the entry position, the control unit 4 may control the moving unit 5 to stop the conveyor 2. Therefore, the baggage transportation method according to the present invention can prevent the conveyor 2 from colliding with the vehicle while one side of the conveyor 2 enters into the vehicle.
Next, the conveyor 2 is rotated so that one side of the conveyor 2 is located at a lowered position located inside the vehicle (S2). This process (S2) can be made by the winch (3) by rotating the conveyor (2) from the raised position to the lowered position when the conveyor (2) is located in the entry position. When the conveyor 2 is located in the lowered position, one side of the conveyor 2 may be connected to the first transportation facility 20, and the other side of the conveyor 2 may be the second transportation facility 30. Can be connected to.
Next, the conveyor 2 located in the lowered position carries the baggage (S3). This process (S3) may be achieved by the conveyor motor 22 moving the slats 21. By this step S3, the baggage can be carried in or out of the vehicle.
Next, when the transportation of the baggage is completed, the conveyor 2 is rotated so that the conveyor 2 is located at an elevated position located outside the vehicle (S4). This step (S4) may be made by the winch (3) by rotating the conveyor (2) from the lowered position to the raised position when the transportation of the baggage is completed. When the conveyor 2 is located in the ascending position, the vehicle can run without being disturbed by the conveyor 2.
In the step S4, the second sensing information regarding whether the conveyor 2 is located at the rising position can be obtained by the rising position sensor 12. The control unit 4 controls the winch 3 to stop the rotational movement of the conveyor 2 when it is determined that the conveyor 2 is located at the lifted position by using the second detection information. Can be. In the step (S4), the conveyor 2 may be rotated at the first rotational speed at the lowered position and then decelerated to be rotated at the second rotational speed and then stopped at the raised position. Therefore, the baggage transportation method according to the present invention can reduce the time taken to transport the baggage by reducing the time it takes for the conveyor 2 to rotate from the lowered position to the raised position. In addition, the baggage transportation method according to the present invention reduces the speed at which the conveyor 2 rotates when the conveyor 2 approaches the rising position, so that the conveyor 2 can be accurately stopped at the rising position. Can be.
1 to 19, in the baggage transportation method according to the modified embodiment of the present invention, the step S1 of moving the conveyor 2 such that the conveyor 2 is located at the entry position is as follows. It may include a process such as.
First, the moving direction for positioning the conveyor 2 in the entry position is determined according to the position at which the vehicle is stopped, and the conveyor 2 is moved in the determined moving direction (S11). This process (S11) can be made by the mobile unit 5 to move the conveyor (2) in the determined moving direction. In this step (S11), the moving direction information that should be moved in order for the conveyor 2 to be located at the entry position may be provided by the stop information transmitting means 400 or the acquiring unit 6. The control unit 4 may receive the movement direction information from at least one of the stop information transmitting means 400 or the acquisition unit 6, and determine the movement direction using the movement direction information. The control unit 4 may control the moving unit 5 such that the conveyor 2 moves in the determined moving direction. For example, when light is received by either the second sensor 612 or the third sensor 613, the control unit 4 moves the conveyor 2 from this to the entrance position. And control the moving unit 5 to move the conveyor 2 in the determined moving direction. When the light is received by the second sensor 612, the control unit 4 may control the moving unit 5 such that the conveyor 2 moves in the first direction (A arrow direction). When the light is received by the third sensor 613, the control unit 4 may control the moving unit 5 to move the conveyor 2 in the second direction (B arrow direction).
In the step S11, when the distance for moving the conveyor 2 to the entry position is greater than the set distance, the conveyor 2 moves the conveyor 2 at the first moving speed and then decelerates and moves at the second moving speed. And a step of stopping after the stop, and a step of moving the conveyor 2 only at the second moving speed and then stopping if the distance for moving the conveyor 2 to the entry position is smaller than the set distance. These processes can be achieved by adjusting the speed at which the mobile unit 5 moves the conveyor 2. In such processes, whether the distance for moving the conveyor 2 to the entry position is larger or smaller than the set distance is provided by at least one of the stop information transmitting means 400 or the acquisition unit 6. Can be. When the control unit 4 determines that the distance for moving the conveyor 2 to the entry position is greater than the set distance, the control unit 4 moves to the first moving speed and then decelerates to the second movement. The mobile unit 5 may be controlled to stop after moving at a speed. When the control unit 4 determines that the distance for moving the conveyor 2 to the entry position is smaller than the set distance, the control unit 4 moves the conveyor 2 so that the conveyor 2 stops after moving only at the second moving speed. (5) can be controlled. For example, when the light is received by either the second sensor 612 or the third sensor 613 and the first sensor 611, the control unit 4, the conveyor 2 is the first The moving unit 5 may be controlled to be stopped at the moving speed and then decelerated to be moved at the second moving speed. When the light is received only in one of the second sensor 612 or the third sensor 613, the control unit 4 moves the conveyor 2 so that the conveyor 2 stops after moving only at the second moving speed. (5) can be controlled.
Therefore, the baggage transportation method according to the present invention can reduce the time taken to transport the baggage by reducing the time taken for the conveyor 2 to move to the entry position. In addition, the baggage transportation method according to the present invention can reduce the speed at which the conveyor 2 is moved when the conveyor 2 approaches the entry position, so that the conveyor 2 can be accurately stopped at the entry position. have.
Next, when the conveyor 2 is located at the entry position, the conveyor 2 is stopped (S12). This process (S12) can be made by the mobile unit 5 stops the conveyor (2) when the conveyor (2) is located in the entry position. In this step (S12), the entry position information may be provided by at least one of the stop information transmitting means 400 or the acquisition unit (6). After the conveyor 2 is moved in the determined movement direction, the control unit 4 can control the mobile unit 5 so that the conveyor 2 is stopped at the entry position using the entry position information. Can be. For example, after the conveyor 2 is moved in the determined movement direction, the control unit 4 does not receive light at the first auxiliary sensor 614 and the second auxiliary sensor 615 without the light being received. When it is confirmed that light is received by the sensor 611, the moving unit 5 may be controlled to stop the conveyor 2.
1 to 19, in the baggage transportation method according to a modified embodiment of the present invention, a step of moving the conveyor 2 so that one side of the conveyor 2 is located in the lowered position (S2) May include the following processes.
First, the winch pulley 32 is rotated in the first rotation direction such that the wire 31 is released from the winch pulley 32 (S21). The process S21 may be performed by the winch motor 33 rotating the winch pulley 32 in the first rotation direction. By this step (S21), the conveyor (2) can be moved in rotation from the raised position to the lowered position. The step S21 may include a step of rotating the winch pulley 32 at a first speed for a predetermined time, and a step of rotating the winch pulley 32 at a second speed slower than the first speed. . By these processes, the conveyor 2 may be rotated at the first rotational speed in the ascending position, decelerated and rotated at the second rotational speed, and then stopped at the descending position. Therefore, the baggage transportation method according to the present invention can reduce the time taken to transport the baggage by reducing the time taken for the conveyor 2 to move from the raised position to the lowered position. In addition, the baggage transportation method according to the present invention can reduce the speed at which the conveyor 2 is rotated when the conveyor 2 approaches the lowered position, so that the conveyor 2 can be accurately stopped at the lowered position. have.
Next, when one side of the conveyor 2 is supported by the vehicle (S22), the winch pulley 32 is further rotated in the first rotation direction and then stopped (S23). These processes (S22, S23), the winch motor 33 after the one side of the conveyor (2) is supported by the vehicle by further rotating the winch pulley 32 in the first direction of rotation to stop Can be done. By these processes (S22, S23), one side of the conveyor 2 can be moved as the floor height of the vehicle is changed. Accordingly, in the baggage transportation method according to the present invention, even if the height of the floor of the vehicle changes as the wheel wears, the weight of the passenger, the weight of the baggage, and the like, the one side of the conveyor 2 is located on the floor height of the vehicle. By moving along, the baggage can be kept in a state capable of smoothly transporting. In the processes S22 and S23, first detection information on whether one side of the conveyor 2 is supported by the vehicle may be obtained by the falling position sensor 11. When the control unit 4 determines that the conveyor 2 is located in the lowered position using the first detection information, the control unit 4 further rotates the first winch pulley 32 in the first rotation direction. The winch 3 can be controlled to stop.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. It will be clear to those who have knowledge.
