KR101696746B1 - Automated Guided Vehicle and Method using the same - Google Patents

Abstract

The unmanned conveying apparatus according to the present invention includes a carriage 100 and a rail 200 to which the carriage 100 is movably mounted and the carriage 100 includes a conveying plate 110, A main roller 140 formed on a lower surface of the mounting plates 120 and 130, a motor 180 supplying power to the main roller 140, And a control unit 195 connected to the motor 180 and the sensing sensor 190. The rail 200 is provided with one or more work areas A and a plurality of rail grooves 230 formed in the upper and lower sides on the side of the rail 200 and a plurality of rail grooves 230 And a plurality of sensing blocks (240) disposed on the plurality of sensing blocks (230) and disposed on the zones (A, B), respectively, The first sensing block 241 and the plurality of rail grooves 230 are disposed on the rail groove of the first sensing block 241 and the second sensing block 241 disposed above and below the plurality of rail grooves 230, And the control unit 195 controls the moving speed of the carriage 100 according to whether the sensing sensor 190 recognizes the signal from the sensing block 240 .

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automated guided vehicle

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned conveying apparatus, and more particularly, to an unmanned conveying apparatus capable of controlling the speed of the conveyance through a sensing sensor attached to a carriage constituting an unmanned conveying apparatus, And a control method using the same.

Generally, in industrial sites such as production lines and assembly lines, various unmanned conveying bogies are used to convey materials, semi-finished products or parts.

This unmanned guided vehicle is a device that transports materials and products between production processes in a factory automation production line. The unmanned guided vehicle uses electric power charged in the battery as a power source and operates according to a command received from the host computer The AGV (Automatic Guided Vehicle), which moves while reading the guidance device arranged on the floor, and the RGV (Rail Guided) which moves along a certain trajectory according to the scale and precision of the product applied to the system, Vehicle).

In the conventional unmanned conveying bogie described above, a bogie bearing a material or parts is moved along a rail. The bogie has a pair of rollers driven by a motor. The rollers come in contact with both sides of the rail, .

Korean Patent No. 10-1090403 (December 16, 2011) discloses a technique related to an unmanned conveying system for conveying an article using a rail system including a rail and a roller, The magnetic sensor of each sensor module senses the magnetic tape attached to the floor to determine the traveling path and to change the direction so as to minimize the turning radius of the moving vehicle and to minimize the occupancy rate of space, But it does not disclose the contents enabling the safe transport of the goods loaded on the bogie by properly controlling the speed of the bogie running on the straight or curved bogie, And does not disclose a separate scheme for enabling the position sensing of the bogie using a rail There is a problem.

SUMMARY OF THE INVENTION The present invention has been made to solve the above conventional problems, and it is an object of the present invention to provide a method and apparatus for accurately positioning a bogie moving along a rail on an automatic guided vehicle, And an object of the present invention is to provide a control method using the apparatus.

According to an aspect of the present invention, there is provided an unmanned conveying apparatus comprising: a carriage (100); And a rail 200 on which the carriage 100 is movably mounted. The carriage 100 includes a conveyance plate 110, a mounting plate 110 disposed on the front or rear of the lower surface of the conveyance plate 110, A motor 180 for supplying power to the main roller 140 and a sensor 180 for applying light to the rail 200. The main roller 140 is mounted on a lower surface of the mounting plates 120 and 130, And a control unit 195 connected to the motor 180 and the sensing sensor 190. The rail 200 includes at least one work area A and a curved path 190 disposed on the straight path, And the rail 200 is provided with a plurality of rail grooves 230 formed on the side surface of the rail 200 up and down and a plurality of rail grooves 230 formed on the plurality of rail grooves 230 And a plurality of sensing blocks (240) disposed on said areas (A, B), respectively, said sensing blocks (240) A first sensing block 241 disposed above and below the plurality of rail grooves 230 and a second sensing block 241 disposed on one of the plurality of rail grooves 230, The control unit 195 controls the movement of the carriage 100 according to whether the sensing sensor 190 recognizes a signal from the sensing block 240 And the speed is controlled.

According to an aspect of the present invention, there is provided a method for controlling a moving speed of a truck using an automatic guided vehicle, comprising: (a) the controller (195) starts driving the truck ; (b) irradiates light from the sensing sensor 190 disposed on the carriage 100 along the rail groove 230 on the rail 200 to thereby transmit the light from the rail 200 or the sensing block 240 Sensing an optical signal of the optical signal; (c) determining the sensing block 240 through a sensing signal received through the sensing sensor 190; (d) confirming whether the sensing sensor (190) receives the first sensing block (241) to determine whether the moving speed of the bogie (100) is reduced; And (e) confirming the position of the second sensing block 245 by the sensing sensor 190 in order to determine whether the vehicle 100 is stopped or regulated.

If the first bogie 110a entering the curved path among the plurality of bogies 110a and 110b is not detected by the second sensing block 245 in the step (e), the first sensing block 241 The second bogie 110b provides a stop signal to the second bogie 110b when it senses the second bogie 110b.

The collision sensors 110a and 110b are respectively disposed at the front and rear sides of the collision sensors 110a and 110b to prevent collision regardless of the traveling direction of the plurality of collision vehicles 110a and 110b.

The unmanned conveying apparatus of the present invention as described above enables the speed of the bogie to be controlled through the sensing sensor attached to the bogie and the sensing block provided on the rail.

Further, the present invention enables stable stopping and running of the bogie moving between a plurality of working processes arranged along the rails, thereby facilitating the conveyance of the articles stacked on the bogie.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a plan view of an automatic guided vehicle according to an embodiment of the present invention;
FIG. 2 is a side view of an unmanned conveying apparatus according to an embodiment of the present invention,
3 is a front sectional view showing a state of engagement of the automatic teller machine according to an embodiment of the present invention,
4 is a configuration diagram of a rail constituting an unmanned conveying device,
FIG. 5 is a conceptual diagram for explaining a conveyance speed control process of a bogie using a sensing block disposed on a rail constituting an unmanned conveying device,
6 is a flowchart for explaining a process of controlling the conveyance speed of a bogie using the sensing block of the present invention, and Fig.
7 is a view for explaining a process of preventing a collision between a plurality of bogies operated on a rail.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood, however, that the invention is not limited to the disclosed embodiments, but is capable of other various forms of implementation, and that these embodiments are provided so that this disclosure will be thorough and complete, It is provided to let you know completely. Wherein like reference numerals refer to like elements throughout.

FIG. 1 is a plan view of an unmanned conveying apparatus according to an embodiment of the present invention, FIG. 2 is a side view of an unmanned conveying apparatus according to an embodiment of the present invention, and FIG. FIG. 4 is a block diagram of a rail constituting an unmanned conveying apparatus, and FIG. 5 is a block diagram illustrating a conveying speed control process of a bogie using a sensing block disposed on a rail constituting an unmanned conveying apparatus. FIG. 6 is a flow chart for explaining a conveyance speed control process of a bogie using a sensing block of the present invention, and FIG. 7 is a view for explaining a process of preventing a collision between a plurality of bogies operated on a rail.

As shown above, the unmanned conveying apparatus according to the present invention includes a railway car 100 and a rail 200 to which the railway car 100 is transported.

The carriage 100 includes a conveying plate 110, mounting plates 120 and 130 disposed below the conveying plate 110, a main roller 140 coupled to a lower end of the mounting plates 120 and 130, And the control unit 195 electrically connected to the motor 180 and the detection sensor 190. The control unit 195 is electrically connected to the guide roller 150, the gear type speed reducer 170, the motor 180, the detection sensor 190, .

The rail 200 includes a rail groove 230 formed on both sides thereof and a sensing block 240 disposed on the rail groove 230 and the rail 100 is moved on the rail 200.

The conveyance plate 110 is a flat plate provided on the rail 200, on which a material, a component, or the like is mounted.

The mounting plates 120 and 130 are flat plates respectively provided on the front and rear sides of the lower surface of the conveying plate 110. The front mounting plate 120 and the rear mounting plate 130 may be formed identically, Type reduction gears 170 and the like.

Meanwhile, in the present embodiment, the front mounting plate 120 is formed of a circular plate, and the rear mounting plate 130 is exemplified as a rectangular plate. The mounting plates 120 and 130 are installed on the lower surface of the conveying plate 110 with bearings therebetween and can freely rotate on the lower surface of the conveying plate 110.

The main roller 140 is installed on the lower surface of each of the mounting plates 120 and 130. The main roller 140 is mounted on the mounting plates 120 and 130 through bearings, And is freely rotatable. The two main rollers 140 are rotated in contact with both sides of a rail 200 to be described later to move the conveying plate 110 on the rail 200.

Meanwhile, the main roller 140 has a sloped surface formed at an upper portion of the main roller 140 and a vertical surface formed vertically at an upper portion of the sloped surface, and a locking protrusion protruding outwardly at an upper portion of the vertical surface.

The main roller 140 is configured such that the inclined surface 141 and the vertical surface 142 are in contact with the inclined surface 220 and the vertical surface 221 of the rail 200, The contact force between the main roller 140 and the rail 200 can be improved and the operation of the roller 140 rolling on the rail 200 can be more stably guided. A driven pulley 144, which is rotated integrally with the roller 140, is installed on the roller 140.

The gear type speed reducer 170 is a device for transmitting the power to the roller 140 through a belt or a chain by reducing the rotational force of the motor 180 at a constant reduction ratio and is composed of a plurality of gears having a reduction ratio.

The gear type speed reducer 170 may be vertically or horizontally configured. However, when considering the space utilization of the conveyance plate 110, it may be desirable to configure the gear type speed reducer 170 as a vertical type that does not require much installation space.

For example, the gear type speed reducer 170 includes a plurality of bevel gears having different gear ratios to convert the driving force of the motor 180 into a normal force perpendicular thereto, And the main roller 140 is driven. Meanwhile, the gear type speed reducer 170 may be modified to various structures and forms of the system as long as the deceleration condition is satisfied, without limitation to the embodiment described above.

A driving pulley 171 connected to the driven pulley 144 of the main roller 140 by a belt 172 and rotating the driven pulley 144 is provided outside the upper end of the gear type speed reducer 170. Accordingly, the power of the motor 180 is decelerated in the order of the gear type speed reducer 170, the drive pulley 171, the belt 172, the driven pulley 144, and the main roller 140. The drive pulley 171 and the driven pulley 144 are pulleys having gears formed on the outer circumferential surface of the belt 172 and the pulleys 144 and 171, Are coupled in a gearing manner and interlocked.

Meanwhile, the motor 180 connected to the gear type speed reducer 170 can be driven by the control unit in the same or different rotational speeds, so that the conveyance plate 110 of the present invention can be easily driven on the curved rail 200 .

In addition, the motor 180, which is provided as described above and rotatably drives the main roller 140, may be installed in one or more than one depending on the weight of the product to be transported, and may include a controller 195 May also be installed in correspondence with the motor 180 in one or more than two.

In particular, when two or more motors 180 are installed as described above, the motor 180 is installed in a number corresponding to the main roller 140 so that each motor 180 rotates the respective rollers 140 directly Can be driven.

A control unit 195 is provided on the lower surface of the mounting plates 120 and 130 spaced apart from the gear type speed reducer 170 to control the operation of the feed plate 110. Between the control unit 195 and the speed reducer 170, The circuit board and the like constituting the control unit can be safely protected from noise or vibration due to the operation of the motor 180 and the speed reducer 170. [

A guide roller 150 rolling on both sides of the rail 200 is rotatably installed on the lower portion of the gear type speed reducer 170. The guide roller 150 is fixed to both sides of the lower portion of the rail 200 The conveying plate 110 can prevent the conveying plate 110 from swinging or coming off when the conveying plate 110 passes the curved section of the rail 200. [

Rail grooves 230 are formed on both sides of the lower end of the rail 200 in the lower direction of the guide roller 150. Terminals 210 and 211 are inserted into the rail groove 230 formed on one side of the rail 200 to provide terminals 160 and 161 for supplying power to the conveyance plate 110, respectively. A plurality of terminals 160 and 161 are provided. The first terminal 160 is a power supply terminal and the second terminal 161 is a ground terminal.

A plurality of rail grooves 230 are formed along the longitudinal direction of the rails 200 on both lower sides of the rail 200 on which the conveying plate 110 is rolling, A terminal 210 for feeding, and a terminal 211 for grounding, respectively. The rail groove 230 includes a first rail groove 231 and a second rail groove 232 spaced apart from the lower portion of the first rail groove 231.

A slope 220 contacting the slope 141 of the main roller 140 is formed on both sides of the upper portion of the rail 200. A vertical surface 142 contacting the vertical surface 142 of the main roller 140 is formed on the slope 220, And an upper surface 222 of the flat surface on which the engaging protrusions 143 of the main roller 140 are seated and engaged is formed at the upper end of the vertical surface 221.

The sensing block 240 is disposed on the rail groove 230 of the rail 200. The sensing block 240 includes a first sensing groove 231 and a second sensing groove 232, And a second sensing block 245 disposed behind the block 241 and the first sensing block 241. It is preferable that the second sensing block 245 is disposed only on one of the first rail groove 231 and the second rail groove 232.

The sensing block 240 may be a metallic member having a predetermined thickness and the light emitted from the sensing sensor 190 is reflected by the sensing block 240 and is incident on the sensing sensor 190 The position of the sensing block 240 can be recognized.

The detection sensor 190 comprises a pair of detection sensors 191 and 192 fixed to the carriage 100. More specifically, the detection sensor 190 detects the movement of the carriage 100 when the first detection sensor And a second sensing sensor 192 moving along the second rail groove 232.

An embodiment of the arrangement of the sense blocks 240 will be described below.

First, in the present invention, a working zone A disposed on the straight path of the rail 200 and a rotation zone B disposed on the curved path are set. In each of the zones A and B, a sensing block 240 is disposed.

The first sensing block 241 is disposed on the work area A in the vertical direction through the first rail groove 231 and the second rail groove 232 and the second sensing block 245 is disposed on the first rail groove 231 ).

The first sensing block 241 is disposed on the first rail groove 231 and the second rail groove 232 on the rotation area B and the second sensing block 245 is disposed on the second rail groove 232 ).

As described above, the first sensing block 241 is arranged vertically on the first rail groove 231 and the second rail groove 232 at the starting end in each zone A and B, 2 sensing blocks 245 are disposed only on the first rail grooves 231 or the second rail grooves 232 to be disposed at different positions from each other.

The first sensing block 241 is disposed on the first rail groove 231 and the second rail groove 232 in the vertical direction and has a first sensing width d1 along the longitudinal direction of the rail 200. [

The second sensing block 245 has a second sensing width d2 along the longitudinal direction of the rail 200 on the first rail groove 231 or the second rail groove 232. The second sensing width d2 may be different from the first sensing width d1, while larger may be preferred. In this case, a speed reduction section is formed between the first sensing block 241 and the second sensing block 245. The widths d3 and d4 of the speed reduction section are determined by the weight of the article placed on the conveyance plate 110 And may be set differently depending on the shape and the like.

3 to 6, a process of controlling the conveyance of the bogie 100 using the sensing sensor 190 and the sensing block 240 will be described.

A method of determining the position of the bogie 100 constituting the automatic guided vehicle according to the present invention will be described based on a time series sequence.

The control unit 190 instructs the bogie 100 at an arbitrary position to start rotational driving at a prescribed speed set in advance according to a predetermined algorithm (S10). The main roller 140 rotates in accordance with the driving force provided from the motor 180 and the gear type speed reducer 170 so that the carriage 100 starts moving along the rail 200.

Simultaneously with the movement of the carriage 100, the sensing sensor 190 disposed on the carriage 100 irradiates light along the rail groove 230 on the rail 200, and the rail 200 and the sensing block 240 (Step S12). That is, during the movement of the carriage 100 along the rail 200, the sensing sensor 190 mounted on the carriage 100 transmits and receives a sensing signal.

Thereafter, whether or not the sensing block 240 is aware of whether or not it senses the waveform of the sensing signal received through the sensing sensor 190, the vertical arrangement of the sensing block 240, the width along the longitudinal direction of the rail 200, (S14).

In step S14, it is first determined whether the bogie 100 has reached the sensing block 240 on the rail 200. This is made possible by the thickness and the material of the sensing block 240 itself and when the signal is directly reflected to the sensing block 240 compared to the rail groove 230 without the sensing block 240, The presence of the sensing block 240 is determined.

If the sensing sensor 190 recognizes the sensing block 240, it is determined whether the speed should be reduced. That is, it is determined whether the sensed sensing block 240 corresponds to a first sensing period in which the speed should be reduced (S16). Whether or not the sensing block corresponds to the first sensing period can be confirmed by detecting whether the first and second sensing sensors 191 and 192 detect the sensing block 240. The first sensing period corresponds to both the working area (A) and the rotating area (B).

The first sensing block 241 has a width corresponding to the first sensing distance d1 along the longitudinal direction of the rail 200. [ If it is confirmed that the first sensing block 241 is present on the rail grooves 231 and 232 through the sensing sensor 190, the control unit 195 maintains the moving speed of the carriage 100 to be smaller than the predetermined speed. As an example, it is possible to keep the speed at half of the specified speed (S30).

The moving speed of the decelerated bogie 100 after the sensing of the first sensing interval is kept constant by the deceleration distances d3 and d4 before sensing the second sensing interval. The deceleration distances d3 and d4 may be determined as a speed buffering interval to prevent a problem due to a sudden change in the speed of the bogie 100. [

That is, the rails 200 to which the bogie 100 is transported are connected to the respective work areas A, and the first deceleration distance d3 before the bogie 100 stops, Enabling a stable stop. In the meantime, the rail 200 is set in the rotation zone B bent in the process of connecting the work area A, in which the second deceleration distance d4 is set and decelerated before cornering, 100 of the vehicle.

After the deceleration distances d3 and d4 have elapsed, the second sensing block 245 is located in one of the rail grooves 231 and 232 through the sensing signal received through the sensing sensor 190. If it is determined that the second sensing block 245 is located in the first rail groove 231, it is determined that the sensing block 245 corresponds to the second sensing period (S20). That is, if it is determined through the sensing sensor 190 that it corresponds to the second sensing period, the control unit 195 may stop the movement of the vehicle 100 (S32). The second sensing block 245 corresponding to the second sensing period has a width corresponding to the second sensing distance d2 along the longitudinal direction of the rail 200. [

In step S32, after the predetermined stop time required for transporting the articles stacked on the truck 100 has elapsed, the controller 195 instructs the conveyance of the specified speed of the truck 100 (S34). That is, the second sensing period corresponds to the work area A on the rail 200.

If the second sensing block 245 is not located in the first rail groove 231 in step S20, it is checked whether the second sensing block 245 is positioned in the second rail groove 232 in step S40.

If it is determined that the second sensing block 245 is located in the second rail groove 232, the control unit 195 determines that the sensing block 245 corresponds to the third sensing period, (S42). That is, the third sensing period corresponds to the rotation area B on the rail 200.

On the other hand, when the bogie 100 moves along the deceleration distances d3 and d4 or when the bogie 100 moves along the predetermined speed maintenance period except for the deceleration distances d3 and d4 and the second detection distances d1 and d2, It is necessary to determine whether the mobile terminal 100 is normally moving. This can be confirmed through the elapse of the preset position confirmation time (S22).

The position confirmation time includes a required deceleration position confirmation time required when moving along the deceleration distances d3 and d4 and a prescribed position confirmation time required when moving along the specified speed maintenance interval. That is, the deceleration position confirmation time is a time required to sense the second sensing block 245 after sensing the first sensing block 241 when the bogie 100 assumes normal driving, The time is a required time from sensing the second sensing block 245 to sensing the first sensing block 241 when the bogie 100 assumes normal operation.

Next, with reference to FIG. 7, a procedure for preventing collision on the curved section of the rail when a plurality of bogies are operated on the rails will be described.

In the present invention, a separate collision preventing sensor attached to the front and rear surfaces of the bogie 100 may be provided. For example, a collision detection sensor disposed in the rear bogie among a plurality of bogies operated along the rail 200, Thereby preventing a collision by decelerating or stopping the vehicle. Accordingly, even when the traveling direction of the bogie 100 is changed, the distance between the bogies can be sensed to prevent collision.

On the other hand, on the straight path of the rail 200, the desired object can be achieved through the collision sensors disposed on the front and rear sides. However, there is a problem that the rear truck is difficult to detect the truck ahead in the curved path. .

As noted above, the present invention may include a working area A disposed on the straight path of the rail 200 and a rotating area B disposed on the curved path, A method of preventing a collision between the bogies 110a and 110b on the revolving zone B will be described.

When the first bogie 110a enters the curved path in the case where the bogies 110a and 110b are sequentially driven along the rail 200 in the clockwise direction, 1 sensing block 241 senses the first bogie 110a.

Thereafter, it is confirmed that the first truck 110a is out of the curved path through the process of detecting the first truck 110a at the second sensing block 245 disposed at the outlet end of the rotational section B.

Here, the present invention prevents the second bogie 110b from entering the curved path when the first bogie 110a is on a curved path. That is, when the first sensing block 245 detects the first bogie 110a entering the curved path and the second sensing block 241 senses the second bogie 110b, which is another bogie, To provide a stop signal to the second truck 110b.

As described above, the present invention allows only one bogie on the curved path of the rail 200 to prevent a collision between bogies.

Another embodiment of the present invention is a case in which a plurality of bills are operated on a rail system which is vertically spaced and both ends are connected to an elevator. In the rail system, for example, when a bogie moving along the upper rail is moved to the lower rail through the lift mechanism, its traveling direction is reversed.

In this case, a collision detection sensor may be provided on the front and rear sides of the bogie, respectively. In other words, a collision detection sensor disposed at the front and rear of the bogie operated along the rail detects a bogie disposed at the front and rear, and decelerates or stops the bogie.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It is clear that the present invention can be suitably modified and applied in the same manner. Therefore, the above description does not limit the scope of the present invention, which is determined by the limitations of the utility model registration claims.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the present invention.

100: Truck
110:
120, 130: mounting plate
140: main roller
150: guide roller
170: Gear type speed reducer
180: Motor
190: Detection sensor
195:
200: rail
230: Rail groove
240: sense block

Claims (4)

A carriage 100; And
And a rail (200) on which the truck (100) is movably mounted,
The bogie (100)
A main roller 140 formed on the lower surface of the mounting plates 120 and 130 and a main roller 140 disposed on the main roller 140 And a control unit 195 connected to the motor 180 and the sensor 190. The control unit 195 is connected to the motor 180,
On the rail 200 there is one or more work areas A arranged on a straight path and one or more rotary sections B arranged on a curved path, the rail 200 being arranged on the side of the rail 200 And a plurality of sensing blocks 240 disposed on the plurality of rail grooves 230 and disposed on the zones A and B, respectively,
The plurality of sensing blocks 240 may include a first sensing block 241 disposed up and down across the plurality of rail grooves 230 and a plurality of sensing blocks 240 disposed on one of the plurality of rail grooves 230 And a second sensing block (245) disposed behind the first sensing block (241)
The control unit 195 adjusts the moving speed of the bogie 100 according to whether the sensing sensor 190 recognizes a signal from the sensing block 240,
The first sensing block 241 is disposed on the work area A in the vertical direction over the first rail groove 231 and the second rail groove 232, 1 rail grooves 231,
The first sensing block 241 is disposed on the first rail groove 231 and the second rail groove 232 on the rotation area B and the second sensing block 245 is disposed on the second rail groove 232, 2 rail grooves 232,
The first sensing block 241 is disposed on the first rail groove 231 and the second rail groove 232 in the vertical direction to detect a first sensing width d1 along the longitudinal direction of the rail 200 The second sensing block 245 has a second sensing width d2 along the longitudinal direction of the rail 200 on the first rail groove 231 or the second rail groove 232, Wherein the second sensing width d2 is greater than the first sensing width d1 and a speed reduction period is formed between the first sensing block 241 and the second sensing block 245. [
Unmanned return device.
A method of controlling a moving speed of a truck using the automatic guided vehicle according to claim 1,
(a) the control unit 195 instructs the bogie 100 to start driving at a predetermined speed;
(b) irradiates light from the sensing sensor 190 disposed on the carriage 100 along the rail groove 230 on the rail 200 to thereby transmit the light from the rail 200 or the sensing block 240 Sensing an optical signal of the optical signal;
(c) determining the sensing block 240 through a sensing signal received through the sensing sensor 190;
(d) confirming whether the sensing sensor (190) receives the first sensing block (241) to determine whether the moving speed of the bogie (100) is reduced; And
(e) checking the position of the second sensing block (245) by the sensing sensor (190) to determine whether the vehicle (100)
In step (d), the moving speed of the bogie 100 may be maintained constant during the speed reduction period after sensing the first sensing period through the first sensing block 241,
In the step (e), when the second sensing block 245 is positioned in the first rail groove 231 and corresponds to the second sensing period, the movement of the carriage 100 is stopped,
When the second sensing block 245 is located in the second rail groove 232 and corresponds to the third sensing period,
A method of controlling the moving speed of a truck.
3. The method of claim 2,
In the step (e)
The bogie 100 comprises a plurality of bogies 110a and 110b,
When the first sensing block 241 senses the second bogie 110b when the first sensing block 245 does not detect the first bogie 110a entering the curved path, RTI ID = 0.0 > 110b < / RTI >
A method of controlling the moving speed of a truck.
The method of claim 3,
The plurality of bogies (110a, 110b) are disposed in front of and behind each other, and a collision detection sensor is disposed to prevent collision regardless of the direction of travel of the bogies (110a, 110b)
A method of controlling the moving speed of a truck.

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