KR101857407B1 - A wireless power transfer system of identifying a position of the automated guided vehicle and method for identifying a position of the automated Guided Vehicle - Google Patents

Abstract

The present invention provides a wireless power transmission system for an automated path vehicle capable of identifying a vehicle position and a method for identifying an automated path vehicle position, which wirelessly supply a power to an automated path vehicle and can identify a position of the automated path vehicle. The wireless power transmission system for an automated path vehicle capable of identifying a vehicle position comprises a transmission wire, a transmission ferrite module, a receiving coil, a sensor coil, an induced voltage detecting device, a detection signal generating circuit and a control device. The method for identifying an automated path vehicle position comprises a transmission ferrite module installing step, an initial position setting step and a position identifying step.

Description

Technical Field [0001] The present invention relates to a wireless power transmission system for an automatic route vehicle and a method for locating an automatic route vehicle,

The present invention relates to a wireless power transmission system, and more particularly to a wireless power transmission system for a vehicle capable of locating a vehicle capable of wirelessly supplying power to an automatic route vehicle on the one hand and locating an automatic route vehicle on the other hand. System and an automatic route vehicle location method.

In factories in modern society, automation is highly automated and the unmanned factory is being operated 24 hours a day without the need of human hands. Among the various factors required for the unmanned factory, the Automated Guided Vehicle System is the key. The automatic path vehicle constituting the automatic path vehicle system can find its own position through various methods and perform various tasks by moving to a necessary place. The position recognition method of the automatic path vehicle will be able to grasp its position by laser, sensor, rotary encoder installed on the wheel, GPS and photoelectric induction method.

A wireless power transmission system can transmit power without wires, which is also called Wi-Power, compared to Wi-Fi technology, which can be connected to the Internet anytime and anywhere with a wireless adapter. Self-induction method is used for wireless charging of smartphone, magnetic resonant method is mainly used for electric car or high speed rail, and far-distance microwave method is used for space solar power generation.

1 illustrates the operation principle of a conventional wireless power transmission system for an automatic route vehicle.

1, a conventional wireless power transmission system for an automatic path vehicle is implemented with a transmission wire 110 embedded in a floor and a reception coil 120 installed in an automatic route vehicle (not shown). The receiving coil 120 may be embedded in the lower part of the vehicle body of the automatic path vehicle or may be separately mounted on the outside of the automatic path vehicle. The receiving coil 120 may convert the magnetic flux generated in the transmission wire 110 into electric energy, .

Referring to FIG. 1, if the transmission wire 110 is composed of two parallel wires 111 and 112, the directions of the currents flowing through the two wires 111 and 112 are opposite to each other, It can be seen that it passes through between the two electric wires 111 and 112 and heads in an upward direction. The receiving coil 120 located in the traveling direction of the magnetic flux will generate a current induced by the magnetic flux and supply it to the automatic path vehicle.

The conventional wireless power transmission system for an automatic route vehicle shown in Fig. 1 is a simple replacement of a wired charging system, and does not provide a function of locating a vehicle.

Korean Patent No. 10-1784683 (September 28, 2017)

SUMMARY OF THE INVENTION The present invention provides a wireless power transmission system for an automatic route vehicle capable of locating a vehicle capable of wirelessly supplying power to an automatic route vehicle on the one hand and locating an automatic route vehicle on the other hand .

It is another object of the present invention to provide a method for locating an automatic route vehicle that can determine the position of an automatic route vehicle using the wireless power transmission system for the automatic route vehicle capable of recognizing the vehicle location.

According to an aspect of the present invention, there is provided a wireless power transmission system for an automotive vehicle, including a transmission line, a transmission ferrite module, a reception coil, a sensor coil, an induced voltage detection device, . The transmission wires constitute two wires which are located a certain distance apart and in which current flows in opposite directions. The transmitting ferrite module is made of a magnetic ceramic material including iron oxide and concentrates the magnetic field directed to the lower side and the side surface of the transmission wire toward the upper side of the transmission wire. The receiving coil is formed by winding a coil a plurality of times on an iron core and induces a voltage of a predetermined magnitude corresponding to a magnetic field generated by the transmission wire. The sensor coil winds a coil on two opposing surfaces of the receiving coil in a direction perpendicular to a winding direction of the receiving coil to induce a voltage of a predetermined magnitude corresponding to a magnetic field generated by the transmitting wire. The induced voltage detecting device detects the magnitude of the voltage induced in the sensor coil. The detection signal generation circuit generates a detection signal corresponding to the induced voltage detected by the induced voltage detection device. The control device calculates the position of the automatic route vehicle using the positions of a plurality of the transmitting ferrite modules stored in advance and the detection signal generated by the detection signal generating circuit.

According to another aspect of the present invention, there is provided a method for locating an automatic route vehicle using the wireless power transmission system for an automatic route vehicle, , A transmitting ferrite module installation step, an initial position setting step, and a positioning step. In the step of installing the ferrite module for transmission, the ferrite module for transmission is installed according to the traveling direction of the transmission wire. In the initial position setting step, information corresponding to the position of the transmission ferrite module closest to the autopilot vehicle that is stationary is set in the control device, and an expected traveling direction of the autopilot vehicle. In the positioning step, the control device counts the number of transmission ferrite modules through which the autopilot vehicle traveling through the initial positioning step moves, and calculates a moving state and a current position of the autopilot vehicle.

The above-described vehicle locatable wireless power transmission system and automatic route vehicle locating method for an automatic route vehicle can be used for wirelessly supplying power to an automatic route vehicle on the one hand without a separate additional device, It is possible to grasp the position of the robot.

1 illustrates the operation principle of a conventional wireless power transmission system for an automatic route vehicle.
2 is a block diagram of a wireless power transmission system for an automatic route vehicle including a position determination module according to the present invention.
FIG. 3 illustrates the operation of an embodiment of a wireless power transmission system for an automatic route vehicle having a positioning module according to the present invention, in which the transmission ferrite module is not provided.
FIG. 4 shows an embodiment of a transmitting ferrite module constituting a wireless power transmission system for an automatic route vehicle having a position determination module according to the present invention.
FIG. 5 is a perspective view illustrating the operation of an embodiment in which a transmission ferrite module is installed in a wireless power transmission system for an automatic route vehicle having a positioning module according to the present invention.
FIG. 6 is a cross-sectional view illustrating an operation of an embodiment in which a transmission ferrite module is installed in a wireless power transmission system for an automatic route vehicle having a position determination module according to the present invention.
FIG. 7 illustrates the magnitudes of other induced voltages depending on whether or not the sub-block is applied.
8 shows output signals of the induced voltage detection device and the detection signal generation circuit when the automatic path vehicle travels a plurality of transmission ferrite modules provided at regular intervals in the traveling direction of the automatic path vehicle.
9 is a view illustrating an automatic route vehicle location method according to an embodiment of the present invention.

In order to fully understand the present invention and the operational advantages of the present invention and the objects achieved by the practice of the present invention, reference should be made to the accompanying drawings, which are provided for explaining exemplary embodiments of the present invention, and the contents of the accompanying drawings.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference symbols in the drawings denote like elements.

2 is a block diagram of a wireless power transmission system for an automatic route vehicle including a position determination module according to the present invention.

2, a wireless power transmission system 200 for an automatic route vehicle including a positioning module according to the present invention includes a transmission line 210, a transmission ferrite module 220, a reception coil 230, An induced voltage detection device 250, a detection signal generation circuit 260, and a control device 270. The induced voltage detection device 250 shown in FIG.

The transmission wires 210 are composed of two electric wires 211 and 212 through which electric current flows in mutually opposite directions and are embedded in the floor along the movement path of an automatic path vehicle (not shown). Since the electric currents flowing through the two electric wires 211 and 212 are opposite to each other, the magnetic flux proceeds between the two electric wires 211 and 212 separated from each other by a certain distance. By adjusting the direction of the current, the direction of the magnetic flux traveling between the two electric wires 211 and 212 can be adjusted. Although the transmission wire 210 is generally embedded in the floor of the space where the autopilot vehicle moves, it is also possible in some embodiments to be installed on the floor surface or the top of the floor. Hereinafter, for convenience of description, a method of burying on the floor will be described.

The transmitting ferrite module 220 is made of a magnetic ceramic material including iron oxide and functions to concentrate the magnetic field directed to the lower side and the side surface of the transmission wire 210 toward the upper side of the transmission wire 210. The transmission wire 210 ) Along the traveling direction of the vehicle. Since it must cover the lower side and the side surface of the transmission wire 210, it is embedded in the floor like the transmission wire 210.

The receiving coil 230 is formed by winding a coil a plurality of times on an iron core, and a voltage of a predetermined magnitude is induced by a magnetic field generated by a current flowing through the transmission wire 210. In the following description, (230) is limited to a rectangular shape. The winding direction of the receiving coil 230 may be determined arbitrarily. For convenience of explanation, the winding direction of the receiving coil 230 is restricted to be parallel to the direction of the transmission wire 210. The voltage induced in the receiving coil 230 is used as traveling energy of the autopilot vehicle.

The sensor coil 240 is wound on at least one surface of the rectangular receiving coil 230 in a direction perpendicular to the winding direction of the receiving coil 230. It is preferable that the maximum value of the magnetic energy generated by the transmission wire 210 be used for power to the automatic path vehicle and the energy consumed by the sensor coil 240 used for locating the auto path vehicle is minimized , The voltage induced in the sensor coil 240 must be small enough to be incomparable with the voltage induced in the closed-loop coil 231.

The induced voltage detection device 250 detects the magnitude of the voltage induced in the sensor coil 240. A detection signal generation circuit (260) generates a detection signal corresponding to the induced voltage detected by the induced voltage detection device (250).

The control device 270 calculates the position of the autopilot vehicle using the position of a plurality of transmitting ferrite modules 220 stored in advance and the detection signal generated by the detection signal generation circuit 260.

The operation of the control device 270 will be described in more detail in the automatic route vehicle location method.

FIG. 3 illustrates the operation of an embodiment of a wireless power transmission system for an automatic route vehicle having a positioning module according to the present invention, in which the transmission ferrite module is not provided.

3, a magnetic flux (middle thick arrow) generated between the two transmission wires 211 and 212 passes between the rectangular reception coils 230, It can be seen that a constant voltage is induced in the coil 240.

As described above, it is preferable that the magnetic energy generated by the transmission wire 210 is used for the movement energy of the auto-path vehicle through the reception coil 230. Therefore, something to do. However, in this case, since the magnitude of the voltage induced in the sensor coil 240 becomes too small, there is a possibility that the induced voltage detection device 250 itself is difficult to detect or an error occurs in detection. In order to compensate for this, the present invention proposes to use a ferrite module 220 for transmission, which is used to minimize the leakage of magnetic flux generated in the transmission line 210.

FIG. 4 shows an embodiment of a transmitting ferrite module constituting a wireless power transmission system for an automatic route vehicle having a position determination module according to the present invention.

4, the transmitting ferrite module 220 includes a W-shaped module body 221 made of a magnetic ceramic material including iron oxide and including an empty space in which two transmission wires 211 and 212 are seated, An auxiliary block 222 for narrowing the width of the empty space by installing one of the empty spaces of the module body 221 so as to focus the magnetic flux generated from the electric wire seated in the space in the open upward direction .

Fig. 4 shows two types of transmitting ferrite modules, depending on the installation position of the sub-block 222. Fig.

FIG. 5 is a perspective view illustrating the operation of an embodiment in which a transmission ferrite module is installed in a wireless power transmission system for an automatic route vehicle having a positioning module according to the present invention.

FIG. 5 shows only the transmitting ferrite module 220 added in FIG. 4. The magnetic flux passing through the center of the receiving coil 230 is not shown for simplification of the drawing, and the transmitting ferrite module 220 is added 4, only the magnetic flux (arrow) which did not exist was shown.

5, since the receiving coil 230 and the sensor coil 240 are additionally provided with magnetic fluxes (arrows) previously leaked to the outside as well as the magnetic fluxes shown in FIG. 4, It can be easily understood that the induced voltage can be made larger without increasing the magnitude of the current or increasing the winding of the coil.

FIG. 6 is a cross-sectional view illustrating an operation of an embodiment in which a transmission ferrite module is installed in a wireless power transmission system for an automatic route vehicle having a position determination module according to the present invention.

6, an auxiliary block 222 is installed on one side of the empty module body 221 of the transmitting ferrite module 220 so that the transmitting ferrite module 220 is asymmetric with respect to the transmitting ferrite module 220, The magnitude of the magnetic field transmitted to the sensor coil 240 is made different to make a difference in the induced voltage. In FIG. 6, 'x' in the transmission line 212 indicates that the current flowing in the transmission line 212 is directed to the back side of the ground, and '.' In the transmission line 211 indicates the current flowing in the transmission line 211 And the current is directed toward the upper side of the paper.

FIG. 7 illustrates the magnitudes of other induced voltages depending on whether or not the sub-block is applied.

7 shows a case where no auxiliary block is used at the upper left part, and a case where one auxiliary block is used at the lower left part of FIG.

7, the magnitude of the voltage induced in the sensor coil 240 on the side not using the sub-block 222 (the upper right side and the middle side) can be detected by the sensor coil 240 using the sub- (Right lower portion) of the voltage induced in the battery is relatively large.

8 shows output signals of the induced voltage detection device and the detection signal generation circuit when the automatic path vehicle travels a plurality of transmission ferrite modules provided at regular intervals in the traveling direction of the automatic path vehicle.

8, when the voltages induced in the sensor coils installed on the left and right sides of the automatic route vehicle traveling direction are measured, the induced voltage detected by the sensor coil on the side where the auxiliary block 222 is not installed Analog signal) is relatively small compared to the magnitude of the induced voltage detected by the sensor coil on the side where the sub-block 222 is installed. If the magnitude of the induced voltage detected by the induced voltage detection device 250 is too small, the detection signal generation circuit 260 does not generate it as a detection signal, and it can be seen that it generates the detection signal HI only when it is sufficiently large .

9 is a view illustrating an automatic route vehicle location method according to an embodiment of the present invention.

9, the automatic route vehicle location method 900 performs a transmitting ferrite module installation step 910, an initial positioning step 920, and a positioning step 930.

In the transmitting ferrite module installing step 910, the transmitting ferrite module 220 is installed according to the traveling direction of the transmission wire 210. For example, the position where the transmitting ferrite module 220 is to be installed may be set in advance according to the characteristics of the place, and the transmission ferrite module 220 The spacing of the transmitting ferrite module 220 may be calculated and installed when the number of the ferrite modules 220 is fixed.

In the initial position setting step 920, the transmitting ferrite module 220 is installed after the transmitting ferrite module 220 is installed in the transmission line 210, and the position of the transmitting ferrite module 220 corresponding to the position of the transmitting ferrite module 220, Information and an anticipated traveling direction of the autopilot vehicle are set in the control device 270. [ After the initial positioning step 920, the user may automatically or manually move the autopilot vehicle, and thus the autopilot vehicle will pass through the transmitting ferrite module 220.

In the transmitting ferrite module installing step 910, at least two of the three types of transmitting ferrite modules 220 may be alternately installed. Here, the three ferrite modules for transmission 220 are classified according to the number and positions of the auxiliary blocks 222 installed in the module body 221. For example, the ferrite modules 220 for the first type and the ferrite modules for the second type The credit ferrite module can be distinguished by installing one sub-block 222 in a left empty space or a right empty space, and the third type transmission ferrite module can be divided into two Block 222 is installed.

In the position grasping step 930, the number of the transmitting ferrite modules 220 traveling while the automatic path vehicle in which the initial position is set can be counted, so that the moving state and the current position of the automatic path vehicle can be calculated.

The position determination unit 930 determines whether or not the control unit 270 has detected the position of the ferrite module by using the detection signal generated by the detection signal generation circuit 260 ≪ / RTI >

Although the above description has been made only for the automatic route vehicle in order to facilitate understanding, the present invention can be effectively applied to wirelessly charge the drone or to understand the route of the automatic mobile robot (AMR) and control the operation.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiments. 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 scope of the present invention.

210: transmission line
211: first wire 212: second wire
220: Ferrite module for transmission
221: Module body 222: Secondary block
230: Receive coil
240: Sensor coil
250: Induced voltage detection device
260: Detection signal generation circuit
270: Control device

Claims (7)

A transmission line which is located at a certain distance and constitutes two electric wires through which electric current flows in opposite directions;
A transmission ferrite module composed of a magnetic ceramic material including iron oxide and concentrating a magnetic field directed to a lower side and a side surface of the transmission line toward an upper direction of the transmission line;
A receiving coil for winding a coil on an iron core a plurality of times and inducing a voltage of a predetermined magnitude corresponding to a magnetic field generated by the transmission wire;
A sensor coil winding a coil in two directions of the receiving coil in a direction perpendicular to a winding direction of the receiving coil to induce a voltage of a predetermined magnitude corresponding to a magnetic field generated by the transmitting wire;
An induced voltage detecting device for detecting a magnitude of a voltage induced in the sensor coil;
A detection signal generation circuit for generating a detection signal corresponding to the induced voltage detected by the induced voltage detection device; And
A control device for calculating the position of the automatic route vehicle using the positions of a plurality of the transmitting ferrite modules stored in advance and the detection signal generated by the detection signal generating circuit; To
Wherein the wireless power transmission system comprises: The transmission ferrite module according to claim 1,
A W-shaped module body including an empty space in which the two transmission wires are seated; And
An auxiliary block installed in an empty space of the module body to adjust a width of an empty space; of
Wherein the wireless power transmission system comprises: The transmission ferrite module according to claim 2,
A first type transmission ferrite module in which one of said sub blocks is installed at one of two empty positions of said module body;
A second type transmission ferrite module in which one of said sub blocks is installed on the other of two empty spaces of said module body; And
And a third type transmission ferrite module in which the two auxiliary blocks are installed at two empty positions of the module body;
Wherein the wireless power transmission system comprises: 4. The method of claim 3,
Wherein at least two types of modules of the first type transmission ferrite module, the second type transmission ferrite module, and the third type transmission ferrite module are installed in the traveling direction of the transmission line Automotive wireless power transmission system that can be grasped. The method of claim 1,
Wherein the number of turns of the receiving coil is greater than the number of turns of the sensor coil.
A method for locating an automatic route vehicle using the wireless power transmission system for an automatic route vehicle capable of locating the vehicle according to claim 4,
Installing a transmission ferrite module to install the transmission ferrite module according to a traveling direction of the transmission line;
An initial position setting step of setting, in the control device, information corresponding to a position of a transmitting ferrite module closest to the stopped autopilot vehicle and an expected traveling direction of the autopilot vehicle; And
A positioning step of the control device counting the number of transmission ferrite modules through which the autopilot vehicle traveling through the initial positioning step moves to calculate a moving state and a current position of the autopilot vehicle; To
Wherein the step of determining the position of the vehicle comprises the steps of: 7. The method according to claim 6, wherein in the ferrite module installation step,
Wherein at least two types of modules of the first type transmission ferrite module, the second type transmission ferrite module, and the third type transmission ferrite module are installed in the traveling direction of the transmission line. How to locate the vehicle.

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