KR102253861B1 - Temporary operation method in case of failure section in moving magnet type unmanned auto moving system - Google Patents

Abstract

The present invention relates to a temporary operation method in case of a failure section in a moving magnet-type cart system. More specifically, when a failure section in which a magnetic field is not normally formed is sensed in a motor coil periodically arranged on a rail to generate driving power of a cart and a stopped cart stopped in the failure section is sensed, the stopped cart is detached from the failure section by using a rear cart running behind the stopped cart to allow the stopped cart to run again. Accordingly, the temporary operation method has the effect of continuing the operation of a section including the failure section until repair of the failure section is prepared.

Description

Temporary operation method in case of failure section in moving magnet type unmanned auto moving system}

The present invention relates to a temporary operation method when a failure section occurs in a moving magnet type bogie system, and more specifically, a failure section in which a magnetic field is not normally formed in a motor coil that is periodically arranged on a rail to generate driving driving force of the bogie is detected. When a stopped truck is detected in the faulty section, the stop truck is separated from the faulty section by using the rear truck running at the rear of the stop truck so that the stop truck can be operated again. It relates to a temporary operation method that allows the operation of the section including the faulty section to continue.

Recently, an unmanned transfer system is applied and operated when a certain cargo is delivered in and out of an automated logistics warehouse, and a typical unmanned transfer system is a Rail Guided Vehicles (RGV) system. The RGV system transfers or loads cargo to each conveyor arranged along the rail while the RGV runs on a roof-shaped or straight rail.

In such an unmanned transfer system, a method in which a bogie such as an RGV runs on a rail can be applied. A method in which a bogie runs on a rail using a linear motor can be applied. It can be classified into a method in which a motor coil is attached to the lower part of each bogie and a permanent magnet is disposed on a rail, and a moving magnet type linear motor method in which a permanent magnet is attached to the lower part of each bogie and a motor coil is disposed on the rail.

At this time, since the motor drive is connected to the motor coil and a cable for supplying power is required, it is difficult to operate a large number of bogies or apply to long-distance rails, curved rails, and roof rails. Due to the shortcomings such as disconnection, a moving magnet type linear motor method is applied to the truck operating system that operates a large number of trucks or employs long-distance rails, curved rails, and roof rails, with permanent magnets attached to the trucks, which does not require a cable connection. do.

However, in the case of the moving magnet type linear motor method, 1 or 2 motor coils per 1m of rail are required, so a considerable number of motor coils and motor drives are required. When a faulty section occurs, there is a problem that the operation of the entire section including the faulty section is stopped until repairs are made.

Republic of Korea Patent Publication No. 10-2012-0019298 (2012.03.06)

The present invention is to solve the problems of the prior art mentioned above, and the object of the present invention is to detect a fault section in which a magnetic field is not normally formed in a motor coil that is periodically arranged on a rail to generate a driving force of a bogie. When a stopped truck is detected in the faulty section, the stop truck is separated from the faulty section by using the rear truck running at the rear of the stop truck so that the stop truck can be operated again, when the repair of the faulty section is ready. It is to provide a temporary operation method that allows the operation of the section including the faulty section to continue.

Another object of the present invention is to designate a non-workable conveyor that is disposed adjacent to the failed section when a failure section is detected, stop creating additional jobs of the designated non-workable conveyor, and reassign the previously assigned jobs to other conveyors. However, it is to provide a temporary operation method that reduces problems caused by the inability to load or transfer cargo to or from adjacent conveyors due to the occurrence of a failure section.

Another object of the present invention is to designate the section from the fault section to the front end of the set distance as a high-speed section when a fault section is detected, and the bogie in the specified high-speed section runs at a higher speed than the basic running speed, so that the vehicle is transferred to the fault section. It is to provide a temporary operation method that can reduce the occurrence of stop trucks in the faulty section by not stopping in the faulty section due to inertia caused by high-speed driving in the section.

In the temporary operation method when a failure section occurs in a moving magnet type bogie system according to an embodiment of the present invention, a permanent magnet is attached to the lower part so that driving driving force is generated by a magnetic field on a rail where a motor coil forming a magnetic field is periodically arranged. In the truck operation system in which the truck that becomes the truck transfers cargo between the conveyors, the truck stops at the failure area detected in step (a) and (a), which detects a faulty section in which the truck does not generate driving power among rail sections. It includes step (b) of detecting the stopped truck, and step (c) of separating the stopped truck from the fault section by using the rear truck running behind the stop truck when the stopped truck is detected in step (b).

In this case, in step (c), the stationary truck may be separated from the failure section by using the driving power of the rear truck.

In addition, step (c) is the step of designating the section from the fault section to the front end of the set distance as a low-speed section when a stop vehicle is detected in step (b), and driving the rear vehicle in the specified low-speed section at a lower speed than the basic running speed, It may include the step of releasing the safety distance set in the rear bogie so that the rear bogie can contact the rear of the stop bogie.

In addition, step (c) is a step of determining whether or not an obstacle exists on the rail of the rear end section from the stop vehicle based on the moving direction of the vehicle when the stop vehicle is detected in step (b). The bogie may further include temporarily stopping the vehicle until no obstacle is detected.

In addition, the temporary operation method may further include a step (d) of stopping the operation of a non-workable conveyor disposed adjacent to the faulty section when a faulty section is detected in step (a).

In addition, step (d) includes the steps of designating an unworkable conveyor that is placed adjacent to the faulty section when a faulty section is detected in step (a), stopping the assignment of additional work to the designated unworkable conveyor, and It may comprise the step of reallocating the job previously assigned for the inoperable conveyor to another conveyor.

In addition, the temporary operation method includes the steps of designating the section from the fault section to the front end of the set distance as a high-speed section when a fault section is detected in step (f) (a), and driving the vehicle on the specified high-speed section at a higher speed than the basic running speed. It may contain more.

In addition, the temporary operation method may further include step (g) of canceling the designated high-speed section when a stop vehicle is detected in step (b).

According to the present invention, when a fault section in which a magnetic field is not normally formed is detected in a motor coil that is periodically arranged on a rail to generate the driving power of the vehicle, and a stopped vehicle stopped in the fault section is detected, the vehicle running from the rear of the vehicle By using the rear bogie to separate the stop bogie from the faulty section, the stop bogie can be operated again, so that the operation of the section including the faulty section is continued until the repair of the faulty section is ready.

In addition, when a faulty section is detected, a non-workable conveyor that is placed adjacent to the faulty section is designated, the creation of additional jobs on the designated non-workable conveyor is stopped, and the previously assigned jobs are reallocated to other conveyors. There is an effect of reducing problems caused by the inability to load or transfer cargo on the conveyor.

In addition, when a faulty section is detected, the section from the faulty section to the front of the set distance is designated as a high-speed section, and the bogie in the designated high-speed section runs at a higher speed than the basic running speed, so that the bogie is inertial due to high-speed running in the section prior to the failure section. There is an effect of reducing the occurrence of stop trucks in the faulty section by preventing stopping in the faulty section.

1 is a diagram schematically showing a state in which a failure section occurs in a moving magnet type bogie system to which a temporary operation method according to an embodiment of the present invention is applied.
2 is a block diagram illustrating an interim operation system to which an interim operation method according to an embodiment of the present invention is applied.
3 is a diagram illustrating a process of separating a stop truck from a failure section by using the driving power of the rear truck in the temporary operation method according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating a process of setting a high-speed section to allow a truck to pass through a failure section in a temporary operation method according to an embodiment of the present invention.
5 is a block diagram illustrating a conveyor setting unit and a job assignment unit of a temporary operation system to which a temporary operation method according to an embodiment of the present invention is applied.
6 is a diagram showing a state in which a conveyor that cannot work is generated in a temporary operation method according to an embodiment of the present invention.
7 is a flowchart schematically showing a temporary operation method according to an embodiment of the present invention.
8 is a flowchart illustrating a process of designating and releasing a high-speed section in a temporary operation method according to an embodiment of the present invention.
9 is a flow chart illustrating a temporary operation process when an unworkable conveyor is designated and an unworkable conveyor occurs in a temporary operation method according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to elements of each drawing, it should be noted that the same elements are assigned the same numerals as possible even if they are indicated on different drawings. In addition, in describing the present invention, when it is determined that a detailed description of a related known configuration or function may obscure the subject matter of the present invention, a detailed description thereof will be omitted.

1 is a diagram schematically showing a state in which a failure section (OS) occurs in a moving magnet type bogie system to which a temporary operation method according to an embodiment of the present invention is applied. It is a block diagram showing to explain the temporary operation system to which the temporary operation method according to is applied, and FIGS. 3A to 3D use the driving power of the rear bogie 20-2 in the temporary operation method according to an embodiment of the present invention. Thus, it is a diagram showing a process of separating the stop truck 20-1 from the failure section (OS). 4A to 4C are diagrams illustrating a process of setting a high-speed section HS so that the vehicle passes through the failure section OS in the temporary operation method according to an embodiment of the present invention.

1 to 4C, in the temporary operation method according to the present embodiment, a permanent magnet is provided at the bottom so that a driving driving force is generated by a magnetic field on a rail 10 on which a motor coil 11 forming a magnetic field is periodically arranged. In the truck operation system in which the attached truck 20 transfers the cargo G between the conveyors 30, a magnetic field is not normally formed on the rail 10, causing the truck 20 to not generate driving power. Even if (OS) is formed, the operation of the section including the faulty section should continue.

For this purpose, the temporary operation system to which the temporary operation method is applied includes a rail 10, a cart 20, a conveyor 30, and a control device 40. Motor coils 11, each of which is connected to a motor drive to form a magnetic field, is periodically arranged on the rail 10, and a permanent magnet is attached to the lower portion of the bogie 20 to prevent the magnetic field formed by each motor coil 11. As a result, the driving force is generated. In addition, a plurality of conveyors 30 are disposed along the rails 10 so that the cargo loaded on the bogie is transferred or the cargo on the conveyor 30 is loaded on the bogie 20. Lastly, when the stop truck 20-1 is detected, the control device 40 uses the rear truck 20-2 that was running behind the stand truck 20-1 to make the stop truck 20-1 a failure section. Break away from (OS).

Specifically, the control device 40 includes a fault section detection unit 41 that detects a fault section (OS) in which a magnetic field is not normally formed in the motor coil 11-1, and a stop at the detected fault section (OS). A stop truck detection unit 42 that detects a stop truck (20-1), and when the stop truck (20-1) is detected, the section from the failure section (OS) to the front end of the set distance is designated as a low-speed section (LS). A low-speed section setting unit 44, a speed control section 45 that controls the speed of the bogie 20 so that the rear bogie 20-2 travels at a lower speed than the basic running speed on the designated low-speed section LS, and the rear bogie It may include a safety distance setting unit 46 for releasing the safety distance set in the rear bogie 20-2 so that (20-2) can contact the rear of the stop bogie 20-1. In other words, when the control device 40 detects the fault section (OS) and detects the stop truck 20-1 stopped in the fault section (OS), as shown in Fig. 3a, the set distance is sheared from the fault section (OS). The section up to is designated as a low-speed section (LS), and as shown in FIG. 3B, the rear bogie 20-2, which was operated immediately behind the stop bogie 20-1, is at a low speed in the designated low-speed section LS. The rear bogie 20-2 is brought into contact with the rear of the stop bogie 20-1 by allowing the vehicle to operate and releasing the set safety distance of the rear bogie 20-2.

Accordingly, as shown in Fig. 3c, the stop truck 20-1 can escape from the failure section (OS) through the driving power of the rear cart, and as shown in Fig. 3d, the stop cart (20-1) is separated from the failure section (OS). The stopped vehicle 20-1 generates a driving force through a magnetic field generated in a subsequent normal section, so that normal driving is possible on the rail 10 of the subsequent section. And at this time, when the rear bogie 20-2, which has separated the stop bogie 20-1 from the failure section (OS), is stopped in the failure section (OS), the bogie running from the rear of the rear bogie 20-2 (20-3) acts as a new rear bogie (20-2), leaving the existing stopped rear bogie (20-2) in the failure section (OS). Here, the failure section (OS) refers to a section in which the bogie 20 does not generate the driving power due to the failure of the motor coil 11-1 due to a cause such as a failure of the motor drive. Regardless of this, all sections on the rail 10 in which the bogie 20 does not generate driving driving force are included.

In addition, when the stop truck 20-1 is detected, the control device 40 detects an obstacle on the rail of the rear end section of the stop truck 20-1 based on the moving direction of the truck 20 to determine whether there is an obstacle. It may further include an obstacle determination unit. And when it is determined that an obstacle exists by the obstacle determination unit, the speed control unit 45 makes the rear carriage 20-2 temporarily stop until the obstacle is not detected by the rear carriage 20-2 on the low-speed section LS. You can control the speed. Here, the obstacle may be the bogie 20 that is stopped for reasons such as cargo (G) transfer or loading.

On the other hand, the control device 40 may further include a high-speed section setting unit 43 for designating a section from the fault section (OS) to the front end of the set distance as a high-speed section (HS) when a fault section (OS) is detected. have. And when the high-speed section HS is designated, as shown in FIGS. 5A to 5C, the speed control unit 45 drives the bogie 20 on the high-speed section HS at a higher speed than the basic driving speed. In the fault section (OS), the truck 20 does not stop, passes through the fault section (OS), and moves to the rear end section of the fault section (OS). Accordingly, the temporary operation system according to the present embodiment can reduce the occurrence of the stop truck 20-1 in the failure section (OS).

And, if the stop truck 20-1 is detected in the faulty section (OS), the high-speed section setting unit 43 immediately releases the designated high-speed section (HS), and ) Can prevent high-speed collision.

5 is a block diagram illustrating a conveyor setting unit 47 and a work assignment unit 48 of a temporary operation system according to an embodiment of the present invention, and FIG. 6 is a temporary operation system according to an embodiment of the present invention. It is a diagram showing a state in which the conveyor 30-1 that cannot be operated occurs in the operating method.

In the temporary operation system according to the present embodiment, when the failure section (OS) occurs, the truck 20 cannot move finely on the failure section (OS), so that the truck 20 is transferred to the conveyor 30 in the failure section (OS). It becomes impossible to transfer the cargo to or load the cargo G from the conveyor 30 to the bogie 20.

In order to reduce the problem caused by the above-described problem, referring to FIGS. 5 to 6, the control device 40 of the temporary operation system according to the present embodiment includes a fault section (OS) from the fault section detecting unit 41. When detected, the operation of the inoperable conveyor 30-1 disposed adjacent to the fault section (OS) can be stopped.

Specifically, the control device 40 includes a conveyor setting unit 47 that designates a non-workable conveyor 30-1 disposed adjacent to the failure section OS of the conveyor 30 when a failure section (OS) is detected. , It may further include a task assignment unit 48 for stopping the allocation of additional tasks to the designated unworkable conveyor 30-1 and reallocating the tasks previously allocated for the unworkable conveyor to another conveyor 30. .

7 is a flowchart schematically showing a temporary operation method according to an embodiment of the present invention.

Looking at a schematic temporary operation method according to the present embodiment with reference to FIG. 7, first, a failure section detection unit 41 detects a failure section OS in which the vehicle 20 does not normally generate a driving force (S11). .

And when the faulty section (OS) is detected, the low-speed section setting unit 44 determines whether the stop cart 20-1 stopped in the faulty section (OS) is detected (S12), and if the stop cart 20-1 is If it is not detected (S12-N), it waits until the stop cart (20-1) is detected. On the other hand, if the stop cart (20-1) is detected (S12-Y), the low-speed section setting unit 44 is at low speed. The section LS is designated (S13).

When the low-speed section (LS) is designated, the speed control unit 45 controls the movement of the rear bogie 20-2 so that the rear bogie 20-2 moves at a low speed in the low-speed section (LS) (S14), and a safety distance setting unit (46) releases the safety distance of the rear bogie 20-2 so that the rear bogie 20-2 can be in close contact with the rear of the stop bogie 20-1, thereby reducing the driving power of the rear bogie 20-2. By this, the stop truck 20-1 makes it possible to deviate from the faulty section (OS) (S15).

8 is a flowchart illustrating a process of designating and releasing a high speed section (HS) in a temporary operation method according to an embodiment of the present invention.

Looking at the process of designating and releasing the high-speed section (HS) in the temporary operation method according to the present embodiment with reference to FIG. 8, first, when a fault section (OS) is detected (S21), the high-speed section setting unit 43 fails. The section from the section (OS) to the front end of the set distance is designated as the high-speed section (HS) so that the bogie 20 can pass through the fault section (OS) using inertia due to high-speed driving (S22).

And the high-speed section setting unit 43 determines whether a stop truck (20-1) is detected in the fault section (OS) (S23), and if the stop truck (20-1) is not detected (S23-N), it stops. The high-speed section (HS) is maintained until the bogie 20-1 is locked, but, on the other hand, when the stationary bogie 20-1 is detected (S23-Y), the designated high-speed section HS is released (S24). ).

FIG. 9 is a flow chart illustrating a temporary operation process when a non-workable conveyor 30-1 is designated and a non-workable conveyor 30-1 occurs in a temporary operation method according to an embodiment of the present invention.

Referring to FIG. 9 to designate a non-workable conveyor 30-1 and look at the temporary operation process when the non-workable conveyor 30-1 occurs, first, when a failure section is detected from the failure section detection unit 41 (S31) , The conveyor setting unit 47 determines whether there is a conveyor 30-1 disposed adjacent to the failure section (OS) (S32), and if the conveyor 30-1 disposed adjacent to the failure section (OS) If there is no (S32-N), the temporary operation process for the non-workable conveyor 30-1 is terminated, on the other hand, when there is a conveyor 30-1 disposed adjacent to the faulty section (OS). (S32-Y), the adjacent conveyor 30-1 is designated as a non-workable conveyor 30-1 (S33).

When the unworkable conveyor 30-1 is designated, the task assignment unit 48 stops allocating an additional task to the unworkable conveyor 30-1 (S34), and the previously assigned task is a different conveyor 30. It is reassigned to (S35).

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, 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 interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

10: rail
11: motor coil 20: bogie
30: conveyor 40: control device
41: failure section detection unit 42: stop vehicle detection unit
43: high-speed section setting unit 44: low-speed section setting section
45: speed control unit 46: safety distance setting unit
47: conveyor setting unit 48: task assignment unit

Claims (8)

In a truck operating system in which a truck having a permanent magnet attached to a lower portion of a rail on which a motor coil forming a magnetic field is periodically arranged to generate driving driving force by the magnetic field transfers cargo between conveyors,
(a) detecting a fault section in which the bogie does not normally generate a driving force among the sections of the rail;
(b) detecting a stop vehicle stopped in the fault section detected in step (a); And
(c) when the stop truck is detected in step (b), the step of disengaging the stop truck from the failure section using a rear truck running behind the stop truck,
Step (c) is
When a stop vehicle is detected in step (b), designating a section from the failure section to the front end of the set distance as a low-speed section, and driving the rear vehicle on the designated low-speed section to a lower speed than the basic driving speed; And
And releasing a safety distance set on the rear bogie so that the rear bogie can contact the rear of the stop bogie.
The method of claim 1,
The step (c) is a temporary operating method, characterized in that the stop truck is separated from the failure section by using the driving power of the rear truck.
delete The method of claim 1, wherein step (c) is
Determining whether or not an obstacle exists on the rail of the rear end section from the stop vehicle based on the moving direction of the vehicle when the stop vehicle is detected in step (b); And
If the obstacle is present, the temporary operation method further comprising the step of temporarily stopping the rear vehicle on the low-speed section until the obstacle is not detected.
In a truck operating system in which a truck having a permanent magnet attached to a lower portion of a rail on which a motor coil forming a magnetic field is periodically arranged to generate driving driving force by the magnetic field transfers cargo between conveyors,
(a) detecting a fault section in which the bogie does not normally generate a driving force among the sections of the rail;
(b) detecting a stop vehicle stopped in the fault section detected in step (a);
(c) when the stop truck is detected in step (b), disengaging the stop truck from the failure section by using a rear truck running behind the stop truck; And
(d) when a failure section is detected in the step (a), stopping the operation of a non-workable conveyor disposed adjacent to the failure section.
The method of claim 5, wherein step (d)
Designating a non-workable conveyor disposed adjacent to the faulty section when a faulty section is detected in step (a);
Stopping the assignment of additional work to the designated inoperable conveyor; And
And reassigning a job previously allocated for the designated inoperable conveyor to another conveyor.
In a truck operating system in which a truck having a permanent magnet attached to a lower portion of a rail on which a motor coil forming a magnetic field is periodically arranged to generate driving driving force by the magnetic field transfers cargo between conveyors,
(a) detecting a fault section in which the bogie does not normally generate a driving force among the sections of the rail;
(b) detecting a stop vehicle stopped in the fault section detected in step (a);
(c) when the stop truck is detected in step (b), disengaging the stop truck from the failure section by using a rear truck running behind the stop truck; And
(f) when the faulty section is detected in step (a), designating the section from the faulty section to the front end of the set distance as a high-speed section, and driving the bogie on the designated high-speed section to a higher speed than the basic running speed. Temporary operation method characterized by.
The method of claim 7, wherein the temporary operation method
(g) releasing the designated high-speed section when the stop vehicle is detected in step (b).

Images