KR101989797B1 - System for controlling drives of automatic guided vehicle in the intersection and method thereof - Google Patents

Abstract

The present invention relates to a system for controlling the running of unmanned bogies at an intersection where a first movement path and a second movement path intersect, wherein the system is installed at a first position on the first movement path, A first RFID tag; A second RFID tag installed at a second position on the second movement path, the second RFID tag being spaced a second distance from the intersection; A first unattended bogus moving along the first movement path and having a first reader reading the first data from the first RFID tag; And a second reader moving along the second movement path and reading a second data from the second RFID tag, wherein the first unmanned bogie and the second unattended bogie When the first data is read from the first RFID tag by the first reader installed in the first unmanned bogie, the information including the read first data is transmitted to the second unmanned bogie And the second unattended bogie receiving the information including the first data stops.
As described above, according to the present invention, the running priority between the first unmanned bogie and the second unmanned bogie is given, thereby preventing the collision between the two bogies at the intersection.
This makes it possible to safely travel at an intersection without a separate traffic light system.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a control system for an unmanned vehicle,

In particular, the present invention relates to a system and a method for controlling an unmanned bogie running at an intersection, and more particularly to a system and method for controlling an unmanned bogie running at an intersection such that a first unmanned bogie moving on a first movement route and a second unmanned bogie moving on a second movement route collide And more particularly, to a system and method for controlling unmanned truck driving at an intersection.

Generally, an unmanned bogie (hereinafter also referred to as a 'unmanned bogie') refers to a transfer device used to transfer parts necessary for production inside a workplace, and is automatically transferred along a predetermined trajectory without human transportation .

Such an unmanned conveyance truck senses a magnetic guide attached to the floor surface and moves along the installation direction of the magnetic guide. That is, a magnetic guide is attached to a track (a rail, a rail, or the like) to which the unmanned conveying bogie must move, and the magnetic field of the magnetic guide is recognized, and the traveling direction and speed of the moving bogie are controlled to be conveyed to a destination.

On the other hand, many patents have been filed and registered in relation to unmanned buggies (unmanned buggies). Among these, in the unmanned transportation system of Korean Patent No. 10-0504255 (July 20, 2005 registration), the first position information is calculated according to the color code preset according to the color of the guide line and the position of the stop position tag Calculating second position information according to a wheel encoder value of the unmanned conveyance vehicle, calculating an error of the first and second position information, and correcting the second position information.

In addition, an unmanned conveying control system of Korean Patent No. 10-0890523 (registered on Mar. 19, 2009) is provided with an IP CAM which is disposed at a position where the entire line can be sensed and captures the traveling state of the line and the unmanned conveying vehicle and; Receiving the driving state information of the line and the unmanned conveyance vehicle from the IP CAM, receiving and storing state information from the plurality of unmanned conveyance vehicles, supplying power to the line, A main server for controlling the running of the unmanned return vehicle; And a router disposed in a shaded area of the line for relaying communication between the main server and the plurality of unmanned transporters.

However, these prior arts have a problem in that expensive equipment such as IP CAM is required for special conditions such as coloring the movement route.

In addition, the unmanned cargo transfer robot in the unmanned cargo transfer system of Korean Patent No. 10-1644270 (Registered on July 25, 2016) transmits the intensity information (RSSI, Received) of the radio signal received from the plurality of different unmanned cargo transfer robots Signal Strength Indication) is applied to extract the current positioning information, and the unmanned freight transfer robot measures signal strength transmitted from each unmanned freight transfer robot in advance and stores it in a memory , When the signal intensity value received from an arbitrary unmanned freight transfer robot is transmitted, the present position information is extracted using a fingerprint positioning method of reading the position information corresponding to the signal intensity value from the memory and estimating the position do.

However, this prior art uses the strength of the signal, and there is a risk of confusion where many wireless communication devices are used.

Also, the prior art does not include means for preventing collision between unmanned vehicles at intersections.

Korean Registered Patent No. 10-0504255 (registered on July 20, 2005) Korean Registered Patent No. 10-0890523 (Registered on Mar. 19, 2009) Korean Registered Patent No. 10-1644270 (Registered on July 25, 2016)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and an object of the present invention is to provide a method and apparatus for providing a traveling priority between a first unmanned vehicle traveling on a first traveling route and a second unmanned traveling vehicle traveling on a second traveling route Thereby preventing a collision between the two unmanned trucks at an intersection, and a method and system for controlling unmanned truck traffic in an intersection.

In order to achieve the above object, the present invention provides a system for controlling the traveling (specifically, moving or stopping) of unmanned bogies at an intersection where a first movement route and a second movement route intersect, A first RFID tag installed at a first position on the first movement path spaced apart from the first RFID tag; A second RFID tag installed at a second position on the second movement path, the second RFID tag being spaced a second distance from the intersection; A first unattended bogus moving along the first movement path and having a first reader reading the first data from the first RFID tag; And a second reader moving along the second movement path and reading a second data from the second RFID tag, wherein the first unmanned bogie and the second unattended bogie When the first data is read from the first RFID tag by the first reader installed in the first unmanned bogie, the information including the read first data is transmitted to the second unmanned bogie And the second unmanned bogie receiving the information including the first data is stopped.

Specifically, the second unattended bail, which has received the information including the first data, determines whether or not second data is read from the second RFID tag, and reads second data from the second RFID tag The second unmanned bogie is stopped.

The information transmitted to the second unmanned bogie in the first unmanned bogie includes position information of the first RFID tag, identification information of the first RFID tag, information relating to the first unmanned bogie, .

The first unmanned bogie-related information may include at least one of identification information of the first unmanned bogie, location information, driving information, expected intersection entry time, moving speed, departure point information, destination information, and first movement route information.

Further, the present invention is characterized in that a third RFID tag is provided at a third position on the first movement route that has passed the intersection at the first position, and the first unmanned bogie is located at the third position, 3 position, the movement of the second unmanned bogie is performed.

Specifically, when the first unmanned bogie is located at the third position or passes through the third position and third data is read from the third RFID tag by the first reader, the read third data Is transmitted to the second unmanned bogie, and then the movement of the second unattended bogie, which has received the second data, is started.

Further, the present invention is characterized in that, when a fourth RFID tag is installed at a fourth position between the second position and the intersection, and when the second unattended bogie is located at the fourth position or passes through the fourth position, And the second unmanned bogie continues to move without stopping.

Specifically, when the second unattended bogie is located at the fourth position, the fourth position and the intersection, or the intersection, and the fourth data is read from the fourth RFID tag by the second reader, Even if the first data is received from the first unmanned vehicle, the second unmanned bogie continues to move without stopping.

Preferably, the first unmanned bogie and the second unmanned bogus communication use a short-range wireless communication scheme.

The short-range wireless communication may be one of a Zigbee communication method, a Bluetooth communication method, and a Wi-Fi communication method.

Further, the present invention is characterized in that an additional RFID tag is provided in front of the second position on the second movement path, and the second unattended bogie recognizing the additional RFID tag detects the presence of the second RFID tag in front And recognizes the user.

In the unmanned bogie running control system according to the present invention, data transmission may be performed only on the second unmanned bogie moving along the second movement route in the first unmanned bogie moving along the first movement route.

The first reader and the second reader are preferably attached to the lower end of the unmanned bogie.

The present invention also provides a method of controlling the running of unmanned bogies at an intersection where a first movement path and a second movement path intersect, the method comprising the steps of: A first RFID tag is installed, a second RFID tag is installed at a second position on the second movement path, the second RFID tag being spaced apart from the intersection by a second interval, and a first A second unmanned bogie having a first unmanned bogie having a leader moves along the first movement path and a second reader that reads second data from the second RFID tag, Wherein the plurality of first and second unmanned bogies are present, and the second unmanned bogie moving along the second movement route in the first unmanned bogie moving along the first movement route is a short- Data flow It is made and, step by the first unmanned truck and when the second unmanned truck while moving toward the intersection, wherein the first reader is installed on the first unmanned truck in which the first data is read out from the first RFID tag; Transmitting information including the read first data to the second unattended bank; The second unattended bail receiving the information including the first data may include determining whether or not second data is read from the second RFID tag; And stopping the second unmanned bogie if the second data is read from the second RFID tag.

The system and method for controlling unmanned truck traffic in an intersection according to the present invention are characterized by providing a driving priority between a first unmanned bogie moving on a first moving route and a second unmanned bogie moving on a second moving route, It is possible to prevent collision between the two unmanned trucks at the intersection.

This makes it possible to safely travel at an intersection without a separate traffic light system.

1 is a schematic view of an unmanned truck driving control system at an intersection according to the present invention.
2 is a detailed block diagram of a first unattended bogie according to the present invention.
3 is a detailed block diagram of a second unattended bogie according to the present invention.
4 is a flowchart showing a method for controlling an unmanned bogie running in an intersection according to the first embodiment of the present invention.
5 is a flowchart illustrating a method for controlling an unmanned truck traveling in an intersection according to a second embodiment of the present invention.
FIG. 6 is a flowchart illustrating a method for controlling an unmanned bogie running at an intersection according to a third embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. In the following detailed description of the preferred embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The same or similar reference numerals are used throughout the drawings for portions having similar functions and functions.

Also, to "include" an element means that it may include other elements, rather than excluding other elements, unless specifically stated otherwise.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic view of an unmanned truck driving control system at an intersection according to the present invention.

1, the present invention can be applied to the case where the unmanned buggies 200 and 300 in the intersection 103 at which the first moving route 101 and the second moving route 102 intersect, Stop system. This is to prevent a collision between the first unmanned carriage 200 running on the first movement route 101 and the second unmanned carriage 300 running on the second movement route 102 at the intersection 103.

The first movement path 101 and the second movement path 102 may be, for example, a road, a track, a rail, or the like.

One or more RFID tags 131 to 134 are provided on the first movement path 101 and the second movement path 102.

Specifically, the first RFID tag 131 is installed on the first movement path 101 and is installed at a first position spaced apart from the intersection 103 by a first distance. The third RFID tag 133 is installed at the third position on the first movement path 101 through the intersection 103 at the first position.

Similarly, the second RFID tag 132 is installed on the second movement path 102, and is installed at the second position spaced apart from the intersection 103 by the second gap. Further, the fourth RFID tag 134 is installed at the fourth position between the second position and the intersection 103.

The first RFID tag 131 and the third RFID tag 133 may be attached on the first movement path 101 and may be embedded. Similarly, the second RFID tag 132 and the third RFID tag 133 may be attached on the second movement path 102 and may be buried.

More specifically, the first RFID tag 131 stores position information and identification information of the first RFID tag 131, and the second RFID tag 132 stores second data, specifically, Location information and identification information of the second RFID tag 132 are stored. More specifically, third RFID tag 133 stores position information and identification information of third RFID tag 133, and fourth RFID tag 134 stores fourth data, specifically, And the position information and the identification information of the fourth RFID tag 134 are stored.

The first reader 202 is provided in the first unmanned bogie 200. When the first unmanned bogie 200 is moving along the first movement path 101, The first data (positional information and identification information of the first RFID tag 131) is read from the first RFID tag 131 attached or embedded in the path 101 or the third data (Position information and identification information of the third RFID tag 133).

Similarly, a second reader 302 is provided on the second unmanned bogie 300. When the second unattended bogie 300 is moving along the second movement path 102, (Positional information and identification information of the second RFID tag 132) from the second RFID tag 132 attached or embedded in the second movement path 102 or reads out the second data from the fourth RFID tag 134 (Position information and identification information of the fourth RFID tag 134).

It is preferable that the first reader 202 is provided at the lower end of the first unmanned bogie 200 and the second reader 302 is provided at the lower end of the second unmanned bogie 300. [

The communication between the first unmanned vehicle 200 and the second unmanned vehicle 300 is preferably a short-range wireless communication method.

The short-range wireless communication method includes, for example, a Zigbee communication method, a Bluetooth communication method, and a Wi-Fi communication method.

In an embodiment of the present invention, data transmission (transmission) is possible only from the first unmanned bogie 200 to the second unattended bogie 300. Specifically, when the first data (or the third data) is read from the first RFID tag 131 (or the third RFID tag 133) by the first reader 202 installed in the first unmanned vehicle 200 , Information including the read first data (or third data) is transmitted (transmitted) to the second unmanned bogie 300.

The information transmitted (transmitted) from the first unmanned bogie 200 to the second unmanned bogie 300 includes not only the location information and identification information of the first RFID tag 131 (or the third RFID tag 133) The first unmanned vehicle-related information, the first route information, and the like.

The first unmanned vehicle-related information may include identification information of the first unmanned vehicle 200, location information, driving information, expected intersection entrance time, moving speed, origin information, destination information, and the like.

2 is a detailed block diagram of a first unmanned bogie 200 according to the present invention.

Referring to FIG. 2, the first unmanned bogie 200 of the present invention includes a first short range wireless communication unit 201, a first reader 202, a first storage unit 203, a first sensor unit 204, 1 control unit 205 and a first traveling motor 206. [

The first short range wireless communication unit 201 is for data communication from the first unmanned vehicle 200 to the second unmanned vehicle 300. [

The first reader 202 can move from the first RFID tag 131 attached or embedded in the first movement path 101 to the first RFID tag 131 when the first manless carriage 200 is moving along the first movement path 101, (Positional information and identification information of the first RFID tag 131) from the third RFID tag 133 or reads third data (positional information and identification information of the third RFID tag 133) from the third RFID tag 133. [

Data (first and third data) read by the first reader 202 and output data (sensing data) of the first sensor unit 204 are stored in the first storage unit 203, and the first unmanned bogie 200 are stored.

The first sensor unit 204 may be constituted by a front collision avoidance sensor, a rear collision avoidance sensor, a mounting sensor, a bumper sensor, or the like. The front collision avoidance sensor is provided to maintain a predetermined distance from the first unmanned vehicle 200 positioned at the front side, and the rear collision avoidance sensor is provided to maintain a predetermined distance from the first unmanned vehicle 200 positioned at the rear side. Also, the onboard sensor detects whether or not the cargo is loaded, and the bumper sensor detects the impact.

The first running motor 206 drives the wheel so that the first unmanned bogie 200 travels (moves and stops) along the first moving path 101 under the control of the first control unit 205 .

The first control unit 205 controls each component of the first unmanned vehicle 200. Specifically, the first control unit 205 transmits the first and third data (the position information and the identification information of the first RFID tag 131 or the third RFID tag 133) read by the first reader 202 to the first And controls the information including the first and third data to be transmitted (transmitted) to the second unattended bogie 300 through the first short range wireless communication unit 201. In addition, the first control unit 205 controls the first travel motor 206 to move or stop the first unmanned vehicle 200. The first control unit 205 controls the first traveling motor 206 based on the output data (sensing data) of the first sensor unit 204.

3 is a detailed block diagram of a second unattended bogie 300 in accordance with the present invention.

Referring to FIG. 3, the second unmanned bogie 300 of the present invention includes a second short range wireless communication unit 301, a second reader 302, a second storage unit 303, a second sensor unit 304, 2 control unit 305 and a second traveling motor 306. [

The second short range wireless communication unit 301 is for receiving information transmitted (transmitted) from the first unmanned vehicle 200.

The second reader 302 can move from the second RFID tag 132 attached or embedded in the second movement path 102 to the second movement path 102 when the second manless carriage 300 is moving along the second movement path 102. [ (Positional information and identification information of the second RFID tag 132) from the fourth RFID tag 134 or reads fourth data (positional information and identification information of the fourth RFID tag 134) from the fourth RFID tag 134. [

(Second and fourth data) read by the second reader 302, data (first and third data) input through the second short range wireless communication unit 301, and data (Sensing data) of the second unmanned vehicle 300 is stored, and a program necessary for driving and operating the second unmanned vehicle 300 is stored.

The second sensor unit 304 may include a front collision prevention sensor, a rear collision prevention sensor, a mounting sensor, a bumper sensor, and the like. The front collision avoidance sensor is provided to maintain a predetermined distance from the second unattended bogie 300 positioned at the front and the rear collision avoidance sensor is provided to maintain a predetermined distance from the second unmanned bogie 300 located at the rear. Also, the onboard sensor detects whether or not the cargo is loaded, and the bumper sensor detects the impact.

The second travel motor 306 drives the wheel so that the second unattended bogie 300 travels (moves and stops) along the second travel route 102 under the control of the second control unit 305 .

The second control unit 305 controls each component of the second unmanned vehicle 300. Specifically, the second control unit 305 stores the second and fourth data (position information and identification information of the second RFID tag 132 or the fourth RFID tag 134) read by the second reader 302 in the second storage Unit 303 and controls the first storage unit 303 to store the first and third data transmitted (transmitted) from the first unmanned vehicle 200. [ The second control unit 305 drives the second traveling motor 306 based on the first and third data transmitted (transmitted) from the first unmanned vehicle 200 to the second unmanned vehicle 300, To be moved or stopped. The second control unit 305 also controls the second traveling motor 306 based on the output data (sensing data) of the second sensor unit 304.

4 is a flowchart showing a method for controlling an unmanned bogie running in an intersection according to the first embodiment of the present invention.

When the first manned vehicle 200 and the second manned vehicle 300 are moving (S401) toward the intersection 103 as shown in FIG. 1, the first manned vehicle 200 moves along the first moving path 101, And then passes through the first RFID tag 131 installed on the first RFID tag. At this time, the first data is read from the first RFID tag 131 by the first reader 202 installed in the first unmanned vehicle 200 (S402). The first data may include location information and identification information of the first RFID tag 131 as an example.

The readout first data is stored in the first storage unit 203 under the control of the first control unit 205 of the first UAV 200. The position information, the identification information, the movement route information, the first unmanned vehicle-related information, and the like of the first RFID tag 131 as the information (first information) including the first data, for example, 201 to the second unmanned bogie 300 (S403). The first unmanned vehicle-related information may include identification information of the first unmanned vehicle 200, location information, driving information, expected intersection entrance time, moving speed, origin information, destination information, and the like.

The second unmanned bogie 300 then receives the information (first information) from the first unmanned bogie 200 through the second short range wireless communication unit 301 (S404). At this time, the second unmanned carriage 300 is stopped. Specifically, the second unattended bogie 300 (specifically, the second control unit 305 of the second unattended bogie), which has received the information (first information) including the first data, (Step S405). If the second data has not been read out, If the second data is read out from the second RFID tag 132 in step 405 (S405), that is, if the second unattended bogie 300 passes through the second position and is read by the second reader 302, When the second data is read from the tag 132, the second unattended bogie 300 is stopped (S406). If the second data is not read from the second RFID tag 132 in step 405 (S405), the second unattended bogie 300 enters the second position where the second RFID tag 132 still exists In this case, the second unmanned vehicle 300 continues to move.

The second data includes position information and identification information of the second RFID tag 132 as an example.

5 is a flowchart illustrating a method for controlling an unmanned truck traveling in an intersection according to a second embodiment of the present invention.

After step S406, i.e., with the second unmanned bogie 300 stopped, the first unmanned bogie 200 passes through the intersection 103 (S501). At this time, when the first manned carriage 200 is located at the third position on the first movement path 101 or passes the third position, the movement of the second manless carriage 300 is performed.

More specifically, when the first reader 202 has read the third data from the third RFID tag 133 (S502) after the first unmanned bogie 200 is located at the third position or passed the third position , Information (second information) including the read third data is transmitted (transmitted) to the second unmanned vehicle 300 (S503), and the information (second information) including the second data is received The second unmanned bogie 300 moves toward the intersection 103 (S505).

The third data includes position information and identification information of the third RFID tag 133 as an example. In addition, the information (second information) may include location information and identification information of the third RFID tag 133, route information, and first unmanned vehicle-related information. In addition, the first unmanned vehicle-related information may include identification information of the first unmanned vehicle 200, location information, driving information, moving speed, source information, destination information, and the like.

FIG. 6 is a flowchart illustrating a method for controlling an unmanned bogie running at an intersection according to a third embodiment of the present invention.

Steps 101 to 104 of FIG. 6 are the same as steps 101 to 104 of FIG. 4, so a detailed description thereof will be omitted.

As in step 404, the second unattended bogie 300 that has received the information (first information) including the first data from the first unattended bogus 200 may pass through the fourth position. In this case, the second unmanned bogie 300 continues to move without stopping (S601) (S602).

Specifically, when the second unmanned bogie 300 is located at the fourth position, the fourth position and the intersection 103 or at the intersection 103, the second RFID tag is read from the fourth RFID tag 134 by the second reader 302 The fourth data may be already being read or already being read.

In this case, the second unmanned bogie 300 passes the intersection 103 ahead of the first unmanned bogie 200, unlike FIG.

That is, when the second unmanned bogie 300 passes the fourth position, even if the first data is received from the first unattended bogie 200, the second unattended bogie 300 continues to move without stopping.

More specifically, the second unattended bogus 300, which has received the information (first information) including the first data, determines whether or not the fourth data is read from the fourth RFID tag 134 (S601) . If the fourth data is read from the fourth RFID tag 134 in step 601 (S601), the second unattended bogus 300 continues to move without stopping regardless of the reception of the information (first information) (S602). The fourth data includes position information and identification information of the fourth RFID tag 134 as an example.

If the fourth data is not read from the fourth RFID tag 134 in step 601 (S601), the second unattended bogie 300 continues to move.

As described above, the present invention can prevent the collision between the positive and negative bogies 200 and 300 at the intersection 103 by giving priority to the traveling between the first unmanned bogie 200 and the second unmanned bogie 300 .

This makes it possible to safely travel at the intersection 103 where there is no separate signal light system.

[Other Embodiments]

After step 602 of FIG. 6, i.e. after the second unattended bogie 300 has passed the intersection 103, the movement of the first unattended bogie 200 can be configured to take place. Specifically, in a state where another RFID tag is installed at a predetermined position on the second movement path 102, which has passed through the intersection 103 at the fourth position, the second unattended carriage 300 passes through the predetermined position So that the first unmanned carriage 200 can be moved.

In the present invention, an additional RFID tag is installed in front of a second position on the second movement path 102, and a second unattended bogie 300 recognizing the additional RFID tag is attached to the front second RFID tag 132 in order to recognize the presence of the user. Thereby, the second unmanned bogie 300 performs the process of FIG. 4 (specifically, steps 404 to 407) after slowing down.

In the embodiment of the present invention, the first and second movement paths 101 and 102 are referred to as unmanned carriages. However, the present invention is not limited thereto. That is, the first and second movement paths 101 and 102 may be an unmanned robot or an unmanned vehicle.

In addition, the present invention is not limited to the case where the first and second movement paths 101 and 102 are lines or rails. That is, the first and second movement paths 101 and 102 may be a road on which an automobile travels. In other words, the system of the present invention is applicable to vehicles or roads for autonomous driving.

The foregoing description is merely illustrative of the technical idea of the present invention and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

101: first movement route
102: second movement path
103: Intersection
131: first RFID tag
132: second RFID tag
133: Third RFID tag
134: fourth RFID tag
200: 1st unmanned car
201: first short distance wireless communication unit
202: First reader
203: first storage unit
204: first sensor unit
205:
206: first traveling motor
300: 2nd unmanned bogie
301: second short range wireless communication unit
302: second reader
303: Second storage unit
304: second sensor unit
305:
306: second traveling motor

Claims (14)

A system for controlling the running of unmanned bogies at an intersection where a first movement path and a second movement path intersect,
A first RFID tag installed at a first position on the first movement path, the first RFID tag being spaced apart from the intersection by a first interval;
A second RFID tag installed at a second position on the second movement path, the second RFID tag being spaced a second distance from the intersection;
A first unattended bogus moving along the first movement path and having a first reader reading the first data from the first RFID tag; And
And a second reader for moving along the second movement path to read out second data from the second RFID tag,
When the first unmanned bogie and the second unmanned bogie are moving toward the intersection,
When the first data is read from the first RFID tag by the first reader installed in the first unmanned bogie, information including the read first data is transmitted to the second unattended bogie,
The second unmanned bogie receiving the information including the first data is stopped,
The information transmitted to the second unmanned bogie in the first unmanned bogie includes position information of the first RFID tag, identification information of the first RFID tag, information relating to the first unmanned bogie, Included,
The first unmanned bogie-related information includes identification information of the first unmanned bogie, position information, driving information, an intersection entry time, a moving speed, a starting point information, a destination information,
A fourth RFID tag is installed at a fourth position between the second position and the intersection,
When the second unmanned bogie is located at the fourth position or passes through the fourth position,
Wherein the second unmanned bogie continues to move without stopping.
The method according to claim 1,
Wherein the second unattended bail that receives the information including the first data determines whether or not the second data is read from the second RFID tag,
And when the second data is read out from the second RFID tag, the second unmanned bogie is stopped.
delete delete The method according to claim 1,
A third RFID tag is installed at a third position on the first movement path that has passed the intersection at the first position,
Wherein the movement of the second unmanned bogie occurs when the first unmanned bogie is located at the third position or passes the third position.
6. The method of claim 5,
When the first unmanned bogie is located at the third position or passes through the third position and third data is read out from the third RFID tag by the first reader, 2 unmanned bogie, and then the movement of the second unmanned bogie, which has received the second data, is started.
delete The method according to claim 1,
When the second unmanned bogie is located at the fourth position, the fourth position and the intersection, or the intersection, and the fourth data is read out from the fourth RFID tag by the second reader,
The second unmanned bogie continues to move without stopping, even if the first data is received from the first unattended bogie.
The method according to claim 1,
Wherein the first unmanned bogie and the second unmanned bogie communication use a local wireless communication system.
10. The method of claim 9,
Wherein the short-range wireless communication is one of a Zigbee communication method, a Bluetooth communication method, and a Wi-Fi communication method.
The method according to claim 1,
An additional RFID tag is provided in front of the second position on the second movement path,
Wherein the second unmanned bogie recognizing the additional RFID tag recognizes the presence of a second RFID tag in front of the unattended boggy running control system at an intersection.
The method according to claim 1,
Wherein in the unmanned bogie running control system, data transmission is performed only in a first unmanned bogie traveling along the first bogie, and only in a second unattended bogie moving along the second bogie.
The method according to claim 1,
Wherein the first reader and the second reader are attached to a lower end of the unmanned bogie.
CLAIMS 1. A method for controlling the running of unmanned bogies at an intersection at which a first movement path and a second movement path intersect,
A first RFID tag is installed at a first position on the first movement path, the first RFID tag being spaced apart from the intersection by a first distance,
A second RFID tag is installed at a second position on the second movement path, the second position being spaced a second distance from the intersection,
A first unmanned bogie having a first reader for reading out first data from the first RFID tag moves along the first movement path,
A second unattended bogie having a second reader for reading second data from the second RFID tag moves along the second movement path,
Wherein the first and second unmanned vehicles exist in plural numbers,
Data communication is performed using a short-range wireless communication method only in a first unmanned bogie moving along the first moving path and a second unmanned bogie moving along a second moving path,
When the first unmanned bogie and the second unmanned bogie are moving toward the intersection,
Reading first data from the first RFID tag by the first reader installed in the first unmanned bogie;
Transmitting information including the read first data to the second unattended bank;
The second unattended bail receiving the information including the first data may include determining whether or not second data is read from the second RFID tag; And
And stopping the second unattended bail if the second data is read from the second RFID tag,
The information transmitted to the second unmanned bogie in the first unmanned bogie includes position information of the first RFID tag, identification information of the first RFID tag, information relating to the first unmanned bogie, Included,
The first unmanned bogie-related information includes identification information of the first unmanned bogie, position information, driving information, an intersection entry time, a moving speed, a starting point information, a destination information,
A fourth RFID tag is installed at a fourth position between the second position and the intersection,
When the second unmanned bogie is located at the fourth position or passes through the fourth position,
Wherein the second unmanned bogie continues to move without stopping.

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