KR102265039B1 - Driving control apparatus and driving control method for trackless truck using color sensor and metal senor - Google Patents

Abstract

In accordance with the present invention, a trackless electric trolley driving control device using a color sensor and a metal sensor includes: a driving part providing a driving force for moving an electric trolley; a trolley gap sensing part detecting a lateral gap between left and right electric trolleys; a reflector formed on a side of the electric trolleys to reflect light radiated from the trolley gap sensing part; departure detection sensors formed on rear left and right sides in the back of the electric trolleys and detecting a departure of the electric trolleys through color and metal detection; a departure detection plate reflecting a magnetic field and light radiated from the departure detection sensors; individual controllers mounted individually on the electric trolleys to control the corresponding electric trolleys; and a main controller connected with the plurality of individual controllers to control the plurality of electric trolleys collectively. Therefore, the departure detection plate for detecting a departure is attached onto the ground or painted, or buried therein to smoothen the passage of a special working vehicle such as a forklift or the like.

Description

Trackless electric bogie driving control device and driving control method using color sensor and metal sensor {DRIVING CONTROL APPARATUS AND DRIVING CONTROL METHOD FOR TRACKLESS TRUCK USING COLOR SENSOR AND METAL SENOR}

The present invention relates to a trackless electric bogie running control device and a running control method using a color sensor and a metal sensor, and more particularly, through color or metal detection on the rear left and right sides of the electric bogie used as a means for loading and storing various materials. The present invention relates to a trackless electric bogie driving control device and driving control method using a color sensor and a metal sensor, which can run smoothly while maintaining a set distance by installing a departure detection sensor that detects a distance.

In general, logistics is an abbreviation for physical distribution, and it can be seen that it means a series of product flow processes in which products produced in various industrial sites are transported, unloaded, stored, packaged, and delivered from producers to consumers.

In the logistics process, in particular, as a central facility for intensive production of products, the logistics warehouse (distribution center) is widely used. It is responsible for sorting, storing, distributing and processing, shipping the processed goods, and delivering them to a large number of consumers.

Accordingly, as described above, the logistics warehouse is to build and use a loading facility of a dedicated configuration as a means for stably storing and transporting a large amount of goods to be received. An example is a conventional electric rack.

The conventional electric rack is constructed in a configuration in which the electric bogie is mounted on the lower surface of the rack structure in which the multi-layered storage space part is provided, and again, on the indoor floor surface of the distribution warehouse where the electric rack is built, to induce the movement of the electric bogie It is common to have a structure in which a driving guide rail is further installed for

Therefore, the electric rack constructed in this way receives and loads the pallets on which a large amount of storage items are loaded in the storage space for each floor formed of the electric rack, using a special work vehicle such as a forklift, and the storage space of the electric rack In the process of loading and unloading the stored goods loaded in the department, the use relationship is obtained. In relation to the electric rack of such configuration and function, an earlier application was registered with the Korean Intellectual Property Office (Patent Registration No. 0614436) It can be seen that the "automation system of an electric rack and its control method" has been published, as well as a number of other public technical documents.

However, as described above, the conventional electric rack is a means for inducing the movement direction and movement distance of the electric rack, and inevitably, due to the need to install a driving guide rail on the indoor floor surface of the distribution warehouse, the electric rack It made the construction work very difficult and complicated, as well as causing a significant waste of money. In particular, transporting goods such as forklifts and electric lifts due to interference or jamming of the driving guide rails installed on the floor of the warehouse. Means, of course, in the moving process of the worker, and also gives considerable inconvenience and difficulty, such as giving a problem of space and work efficiency reduction.

On the other hand, as described above, in the conventional electric rack as described above, depending on the driving characteristics operated along the driving guide rail, during the operation of the facility (electric rack), when a foreign material is caught in the driving guide rail, the electric rack is twisted In order to correct the position of the electric rack separated from the driving guide rail, considerable manpower and equipment must be input. Therefore, maintenance In terms of operation and management of electric racks, such as maintenance and repair, another unforeseen negative effect exists.

Therefore, in order to solve the above-mentioned problems, in the following patent documents, the electric bogie disposed under the electric rack used as a loading and storage means of various logistics is controlled by the trackless driving method, but the distance is maintained based on one side wall This was to prevent the front and rear twisting or separation of the electric bogie.

However, in the case of the prior patent literature, there is a problem that one side wall is still used as a standard for distance calculation, so it is not free as an access space such as a forklift or an electric lift, and there is a risk of a collision because the interval between the electric bogies is not maintained .

Republic of Korea Patent Publication No. 10-1712825

In order to solve the above problems and risks, the present invention provides a departure detection sensor including a color sensor and a metal sensor to detect a departure detection plate painted or taped on the ground in a color distinct from the ground or a departure detection plate made of metal. An object of the present invention is to provide a trackless electric bogie running control device using a color sensor and a metal sensor.

According to the present invention, there is provided a trackless electric bogie traveling control apparatus using a color sensor and a metal sensor, comprising: a driving unit providing a driving force for moving the electric bogie; a bogie gap sensing unit for detecting the left and right gaps between the left and right electric bogies; a reflector formed on the side of the electric bogie to reflect the light irradiated from the bogie gap sensing unit; a departure detection sensor formed on the rear left and right sides of the electric bogie and detecting the departure of the electric bogie through color and metal detection; a departure detection plate for reflecting the light and magnetic field irradiated from the departure detection sensor; an individual controller mounted individually on the electric bogie to control the electric bogie; and a main controller connected to the plurality of individual controllers to control the plurality of electric bogies as a whole.

In the trackless electric bogie driving control device using a color sensor and a metal sensor according to the present invention, the departure detection plate for detecting departure is attached to, painted, or buried on the ground, unlike the conventional stand-up formation on the ground, to prevent the passage of special work vehicles such as forklifts. It has a smooth effect.

1 is a view showing a trackless electric bogie traveling control device using a color sensor and a metal sensor according to the present invention.
2 is a view showing an example of a reflected light color image detected by the departure detection sensor of the trackless electric bogie traveling control device using the color sensor and the metal sensor according to the present invention.
3 is a view for explaining the deviation of the track of the trackless electric bogie traveling control device using the color sensor and the metal sensor according to the present invention.
4 is a view for explaining the distance measurement mechanism for the departure detection plate of the right departure detection sensor and the left departure detection sensor of the trackless electric bogie traveling control device using a color sensor and a metal sensor according to the present invention.
5 is a block diagram of a trackless electric bogie traveling control apparatus using a color sensor and a metal sensor according to the present invention.
6 is a flowchart of a method for controlling the running of a trackless electric bogie using a color sensor and a metal sensor according to the present invention.
7 is a flowchart of a running control method when the front of the electric bogie departs ahead of the rear of the trackless electric bogie driving control method using the color sensor and the metal sensor according to the present invention.
8 is a flowchart of a running control method when the rear of the electric bogie departs ahead of the front of the trackless electric bogie driving control method using the color sensor and the metal sensor according to the present invention.
9 is a flowchart of a running control method when a trackless electric bogie travels control method using a color sensor and a metal sensor according to the present invention, when the electric bogie moves away from the front.
10 is a flowchart of a running control method when the electric bogie moves backwards out of the trackless electric bogie driving control method using a color sensor and a metal sensor according to the present invention;

The terms or words used in the present specification and claims should not be construed as being limited to their ordinary or dictionary meanings, and the inventor may properly define the concept of the term in order to best describe his invention. Based on the principle that there is, it should be interpreted as meaning and concept consistent with the technical idea of the present invention.

Accordingly, the embodiments described in the present specification and the configurations shown in the drawings are only the most preferred embodiment of the present invention and do not represent all the technical spirit of the present invention, so they can be substituted at the time of the present application. It should be understood that various equivalents and modifications may be made.

Hereinafter, with reference to the accompanying drawings, a trackless electric bogie traveling control apparatus using a color sensor and a metal sensor according to the present invention will be described.

As shown in FIG. 1, the trackless electric bogie 1 according to the present invention includes a driving unit 100, a bogie gap sensing unit 200, a reflector 300, a departure detection sensor 400, an individual controller 500, and departure. A sensing plate 600 and a main controller 700 are included, wherein the driving unit 100 includes a front driving unit 110 and a rear driving unit 120 , and the bogie gap sensing unit 200 detects a first bogie gap It includes a unit 210, a second bogie gap detecting unit 220, a third bogie gap detecting unit 230, and a fourth bogie gap detecting unit 240, wherein the departure detection sensor 400 detects right deviation. It includes a sensor 410 and a left departure detection sensor 420 .

The front driving unit 110 is formed on the front right side, and the rear driving unit 120 is formed on the rear left side, which is diagonal to the front driving unit 110, so that the trackless power bogie 1 according to the present invention can be operated left and right. provides driving force.

The first bogie gap sensing unit 210 is formed on the rear left side to sense the distance with the rear of the electric bogie on the left side , and the second bogie gap sensing unit 220 is formed on the front left side and is located on the left side. Sensing the distance from the front of the bogie, the third bogie gap sensing unit 230 is formed on the rear right side to detect the distance with the rear of the electric bogie on the right side, and the fourth bogie gap detecting unit 240 is formed on the front right side and detects the distance from the front of the power bogie on the right side.

The above-described trolley gap sensing unit 200 emits to the reflector 300 as an optical sensor, then reflects the reflector 300 and determines the distance through the principle that the output voltage varies according to the amount of light detected by the receiver. detect

That is, when the output voltage is low because the intensity of the light detected by the receiver is low, the distance of the object is far, and the distance of the object is close when the output voltage is high because the intensity of the detected light is strong. To be more precise, the distance according to the output voltage is data-based in the form of a table, so the distance is sensed according to the intensity of the light detected by the receiver.

The reflector 300 reflects the light emitted from the bogie gap sensing unit 200 to the receiver of the bogie gap sensing unit 200 as mentioned above.

The departure detection sensor 400 is formed on the rear left side of the trackless electric bogie 1 and is formed on the rear right side with the left departure detection sensor 420 for detecting the left departure of the trackless electric bogie 1 (1) includes a right deviation detection sensor 410 for detecting the deviation from the right.

More specifically, the right departure detection sensor 410 or the left departure detection sensor 420 receives the ambient light reflected after irradiating light with a photodiode to receive R (red), G (green), B (blue) light. It corresponds to a color sensor that detects

More specifically, when the right departure detection sensor 410 or the left departure detection sensor 420 irradiates light having an RGB component to the departure detection plate 600 , it is reflected according to the color of the departure detection plate 600 . detect the color of the light.

When an object is irradiated with light with RGB components, the color component of the reflected light varies according to the color of the object.

For example, when the object is red, the reflected light component is red, when the object is yellow, the reflected light component is red and yellow, and when the object is white, the reflected light component is red, green, and blue. The reflected light color images of various objects that are reflected after irradiating light on the object are as shown in FIG. 2 .

As such, the right departure detection sensor 410 or the left departure detection sensor 420 determines the color of the object according to the color (R, G, B) component ratio of the light reflected from the departure detection plate 300 .

In the present invention, the color glued or painted on the ground is blue, and the right departure detection sensor 410 or the left departure detection sensor 420 senses blue according to the reflected light color image of FIG. 2 .

The departure detection plate 600 may be formed by adhering a tape of a color different from that of the ground surface, or painting it with a color different from the ground surface.

As another embodiment, the right departure detection sensor 410 or the left departure detection sensor 420 may correspond to a metal detection sensor that transmits a magnetic field to a metal and receives a magnetic field generated by the metal to detect the metal.

More specifically, the right departure detection sensor 410 or the left departure detection sensor 420 includes a receiving coil and a transmitting coil, and as the magnetic field is transmitted from the corresponding transmitting coil to the metal, a current is generated in the metal receiving the magnetic field. The receiving coil detects the magnetic field produced by the above and detects the metal.

The individual controller 500 controls the driving unit 100 according to the information detected by the bogie gap sensing unit 200 and the departure detecting sensor 400 so that the trackless electric bogie 1 is set with the left and right other electric bogies. It is controlled so that the distance can be maintained and it does not deviate from the front and rear driving reference lines.

More specifically, the individual controller 500 controls the driving unit 100 to maintain the set interval by controlling the driving unit 100 when the interval with the left or right electric bogie sensed by the bogie gap sensing unit 200 is out of the set interval. do.

The individual controller 500 is the departure detection sensor 400, when the desired effective distance between the departure detection plate 600 is set to 200 mm hysteresis (holding time, about 1000 ms) within the detection and non-detection hysteresis range of the detection sensor. In case of deviation, the driving unit 100 is controlled to be within the effective distance.

That is, as shown in Fig. 3a, the individual controller 500 controls the driving so that it can move backward when the trackless power bogie 1 moves forward and crosses the driving reference virtual line in the process of traveling left and right, As shown in Fig. 3b, any one of the front driving unit 110 and the rear driving unit 120 is driven further forward or backward so that a part of the trackless transmission bogie 1 crosses the driving reference virtual line. In this case, the front driving unit 110 or the rear driving unit 120 is controlled so that it can come within the corresponding driving reference virtual line.

As shown in FIG. 4, the departure detection plate 600 is adhesive or taped to the bottom surface on which the wheel part 110, which is one component of the driving part 100, moves, and is irradiated from the departure detection sensor 400. reflects the

As already mentioned, in the present invention, the departure detection plate 600 may be formed by adhering a tape of a color different from the ground floor surface, or painting it with a color different from the ground floor surface.

In addition, when the right departure detection sensor 410 or the left departure detection sensor 420 is a metal detection sensor, the departure detection plate 600 may be a metal plate made of metal.

As described above, as a tape of a color different from the floor surface is adhered to the floor surface in a sticker method and the color is painted, various means of transporting goods, such as forklifts and electric lifts, can move freely.

As shown in Figure 4a, the wheel part 110 includes a bogie base 111, a wheel 112, a shaft 113, a bearing 114, a sensor bracket 115, and a rack post 116. , the wheel 112 is inserted into the open part of the 'C'-shaped bogie base 111, and after the shaft 113 passes through the center of the wheel 112, both ends are hung inside the bogie base 111 It is a supported structure.

The bearing 114 induces smooth rotation of the wheel 112 , and the sensor bracket 115 allows the departure detection sensor 400 to be attached and protected.

The rack post 116 is formed on the upper end of the bogie base 111 to support the various materials to be loaded.

In particular, the sensor bracket 115 is formed to extend from one side of the bogie base 111 in a 'a' structure, and the departure detection sensor 400 is formed therein.

The departure detection sensor 400 detects a color by irradiating light having an RGB component to the departure detection plate 600 formed on the bottom and receiving the reflected light.

On the other hand, when the right departure detection sensor 410 or the left departure detection sensor 420 is a metal detection sensor, the departure detection plate 600 is a metal plate made of metal, and as shown in FIG. It can be formed by inserting an open part bent into a 'c' structure into the ground at a depth of 20mm or more.

At this time, the departure detection plate 600 is a metal plate surface of the non-open part in the 'c' structure so that it can be detected even when the right departure detection sensor 410 or the left departure detection sensor 420 is a color sensor. It is very desirable to have it painted in a color that is distinct from that, or taped with a color tape.

The main controller 700 is connected to a plurality of individual controllers 500 of the trackless electric bogie 1 to control the running of the plurality of trackless electric bogies as a whole.

The running control of the trackless electric bogie by using the color sensor and the metal sensor according to the present invention having the configuration as described above will be described in more detail with reference to FIG. 5 .

The trackless transmission bogie according to the present invention is controlled by left and right running control by the main controller 700 .

The individual controller 500 mounted on the trackless electric bogie receives departure information from the left departure detection sensor 420 and the right departure detection sensor 410 when performing left and right driving control to control the front and rear motors ( 130) by controlling the speed respectively to maintain the departure prevention range and perform driving control.

The front motor speed controller 117 and the rear motor speed controller 118 connected to the front/rear motor controller 130 perform acceleration/deceleration operation according to the acceleration/deceleration time setting, and the front/rear motor controller 130 is When the sensing signal of the first to fourth bogie gap sensing units 210, 220, 230, 240 is received, the running of the electric bogie is stopped.

If the front is ahead of the rear as in the right powered bogie of FIG. 3b while the electric bogie is running to the left, the departure direction determination operation unit 140 causes the left departure detection sensor 420 to take off the departure detection plate 600 inward. or it is determined that the right departure detection sensor 410 has detected the departure detection plate 600 .

On the other hand, when the left departure detection sensor 420 and the right departure detection sensor 410 are color sensors, the left departure detection sensor 420 deviates from the detected color of the departure detection plate 600 and displays the learned color. It is determined that it has not been detected, or that the right departure detection sensor 410 detects the detected color of the departure detection plate 600 .

When the above-described phenomenon occurs, when information determined by the departure direction determination operation unit 140 is transmitted to the front/rear motor controller 130 in real time, the front/rear motor controller 130 performs the calculation and then the front motor speed The first deceleration command signal set to the controller 117 is transmitted.

As described above, according to the first deceleration command signal, the front/rear motor controller 130 receives the real-time departure direction information from the departure direction determination operation unit 140 and there is no departure direction or a set distance range (for example, 200 mm setting). , detected or non-detected hysteresis <holding time about 1000 ms>), the constant speed driving command signal set to the front motor speed controller 117 is transmitted.

Conversely, if the rear is ahead of the front as in the left electric bogie of FIG. 3b while the electric vehicle is traveling to the left, the departure direction determination operation unit 140 determines that the left departure detection sensor 420 moves the departure detection plate 600 upward. , or it is determined that the right departure detection sensor 410 has deviated from the departure detection plate 600 inward.

On the other hand, when the left departure detection sensor 420 and the right departure detection sensor 410 are color sensors, the right departure detection sensor 420 detects the detected color of the departure detection plate 600 or the left departure detection sensor 420 It is determined that the detection sensor 410 does not detect the learned learning color out of the detection color of the departure detection plate 600 .

When the above-described phenomenon occurs, when information determined by the departure direction determination operation unit 140 is transmitted to the front/rear motor controller 130 in real time, the front/rear motor controller 130 performs the calculation and then the rear motor speed The first deceleration command signal set to the controller 118 is transmitted.

As described above, according to the first deceleration command signal, the front/rear motor controller 130 receives the real-time departure direction information from the departure direction determination operation unit 140 and there is no departure direction or a set distance range (for example, 200 mm setting). , detected, non-detected hysteresis <retention time approximately 1000 ms>), the set constant speed driving command signal is transmitted to the rear motor speed controller 118 .

If the electric bogie 1 is moved forward as shown on the right side of FIG. 3A during driving, the departure direction determination operation unit 140 is configured to include both the left departure detection sensor 420 and the right departure detection sensor 410 as described above. It is determined that the departure detection plate 600 has moved forward.

In the case of a color sensor, the departure direction determination operation unit 140 has both the left departure detection sensor 420 and the right departure detection sensor 410 deviate inward from the detection color of the departure detection plate 600 and does not detect the learning color. judged to have been

When the above-described phenomenon occurs, when information determined by the departure direction determination operation unit 140 is transmitted to the front/rear motor controller 130 in real time, the front/rear motor controller 130 performs the calculation and then the rear motor It transmits the first deceleration command signal set to the speed controller 118 .

After the first deceleration command signal is transmitted to the rear motor speed controller 118 , the front/rear motor controller 130 is a control mechanism when the front of the electric bogie is ahead of the rear or the rear is ahead of the front as described above. By applying , the left departure detection sensor 420 and the right departure detection sensor 410 control the driving of the electric cart while maintaining the departure detection plate 600 and a set distance range.

If the electric cart 1 is separated rearward while driving, the departure direction determination operation unit 140 determines that both the left departure detection sensor 420 and the right departure detection sensor 410 are the departure detection plate 600 or the detection color. is considered to detect

When the above-described phenomenon occurs, when the information determined by the departure direction determination operation unit 140 is transmitted to the front/rear motor controller 130 in real time, the front/rear motor controller 130 performs the calculation and then the front motor It transmits the first deceleration command signal set to the speed controller 117 .

The front/rear motor controller 130 transmits the first deceleration command signal to the front motor speed controller 117 and, as described above, a control mechanism when the front of the electric bogie is ahead of the rear or the rear is ahead of the front. By applying , the left departure detection sensor 420 and the right departure detection sensor 410 do not deviate from the departure detection plate 600 and while maintaining the set distance range or while maintaining the reference color range of the detection plate Controls the running of the bogie.

Each of the above-described controllers share all information in real time, the individual controller 500 shares real-time information with the main controller 700 , and the main controller 700 transmits the information of each individual controller 500 to all individual controllers 500 . ) to enable interlocking control between all individual controllers in real time.

A method for controlling the running of the trackless electric bogie using the color sensor and the metal sensor according to the present invention having the above-described configuration will be described with reference to FIGS. 6 to 10 .

The individual controller 500 performs a step of controlling the running of the trackless power bogie as shown in FIG. 6 (S100).

More specifically, the individual controller 500 mounted on the trackless electric bogie receives the departure information from the left departure detection sensor 420 and the right departure detection sensor 410 when performing left and right driving control to receive front and rear departure information. The speed is controlled by the motor controller 130 to maintain the escape prevention range, and a step of running control is performed (S100).

The front motor speed controller 117 and the rear motor speed controller 118 connected to the front/rear motor controller 130 perform acceleration/deceleration operation according to the acceleration/deceleration time setting, and the front/rear motor controller 130 is When the detection signal of the first to fourth bogie gap sensing units 210, 220, 230, 240 is received, the step of stopping the running of the electric bogie is performed (S200).

The front and rear motor controller 130 performs a step of correcting the driving of the electric bogie (S300).

That is, when the front and rear motor controller 130 deviate from the front side ahead of the rear, or on the contrary, the rear side departs ahead of the front side, and the front side deviates from the driving reference virtual line or the rear side travels conversely If it deviates from the reference virtual line, correct the running of the electric bogie.

First, with reference to FIG. 7, a method of correcting when the front side of the transmission bogie deviates ahead of the rear will be described.

If the electric bogie is driving to the left, the departure direction determination operation unit 140 detects that the left departure detection sensor 420 detects a close distance to the departure detection plate 600, and the right departure detection sensor 410 detects the By sensing the distance from the departure detection plate 600 to be far, a step of determining that the front side has departed ahead of the rear like the right electric bogie of FIG. 3B is performed (S311).

At this time, the left departure detection sensor 420 and the right departure detection sensor 410 are metal sensors or color sensors, and the departure detection plate 600 is a metal plate or an adhesive tape of a color distinct from the color of the ground or painted. corresponds to the line.

When the above-described phenomenon occurs, when information determined by the departure direction determination operation unit 140 is transmitted to the front/rear motor controller 130 in real time, the front/rear motor controller 130 performs the calculation and then the front motor speed A step of transmitting the first deceleration command signal set to the controller 117 is performed (S312).

As described above, according to the first deceleration command signal, the front/rear motor controller 130 receives real-time departure direction information from the departure direction determination operation unit 140 so that there is no departure direction or a set distance range (for example, 200 mm setting) , detected or non-detected hysteresis <holding time about 1000 ms>), the step of transmitting the set constant speed driving command signal to the front motor speed controller 117 is performed (S313).

Conversely, with reference to FIG. 8, a method of correcting the case where the rear of the transmission bogie deviates ahead of the front will be described.

While the electric cart is traveling to the left, the departure direction determination operation unit 140 detects that the left departure detection sensor 420 is far from the departure detection plate 600, and the right departure detection sensor 410 detects the departure. Detecting the detection plate 600 upward, or performing a step of determining that the right departure detection sensor 410 has deviated from the departure detection plate 600 inward (S321).

On the other hand, when the left departure detection sensor 420 and the right departure detection sensor 410 are color sensors, the right departure detection sensor 420 detects the detected color of the departure detection plate 600 or the left departure detection sensor 420 The detection sensor 410 performs a step of determining that the learned learning color is not detected outside the detection color of the departure detection plate 600 .

When the above-described phenomenon occurs, when information determined by the departure direction determination operation unit 140 is transmitted to the front/rear motor controller 130 in real time, the front/rear motor controller 130 performs the calculation and then the rear motor speed A step of transmitting the set first deceleration command signal to the controller 118 is performed (S322).

As described above, according to the first deceleration command signal, the front/rear motor controller 130 receives real-time departure direction information from the departure direction determination operation unit 140 so that there is no departure direction or a set distance range (for example, 200 mm setting) , detected, non-detected hysteresis <holding time about 1000 ms>), the step of transmitting the set constant speed driving command signal to the rear motor speed controller 118 is performed (S323).

A method of correcting when the transmission bogie deviates forward will be described with reference to FIG. 9 .

The departure direction determination operation unit 140 determines that both the left departure detection sensor 420 and the right departure detection sensor 410 have departed from the departure detection plate 600 forward, as shown on the right side of FIG. 3A . to perform the step (S331).

In the case of a color sensor, the departure direction determination operation unit 140 has both the left departure detection sensor 420 and the right departure detection sensor 410 deviate inward from the detection color of the departure detection plate 600 and does not detect the learning color. It is judged that one has moved forward.

When the above-described phenomenon occurs, when information determined by the departure direction determination operation unit 140 is transmitted to the front/rear motor controller 130 in real time, the front/rear motor controller 130 performs the calculation and then the rear motor A step of transmitting the first deceleration command signal set to the speed controller 118 is performed (S332).

After the first deceleration command signal is transmitted to the rear motor speed controller 118 , the front/rear motor controller 130 is a control mechanism when the front of the electric bogie is ahead of the rear or the rear is ahead of the front as described above. A step of applying is performed (S333).

By applying the above-described control mechanism, the left departure detection sensor 420 and the right departure detection sensor 410 control the running of the electric cart so as not to depart while maintaining the departure detection plate 600 and a set distance range. .

With reference to FIG. 10, a method of correcting when the transmission bogie deviates rearward will be described.

The departure direction determination operation unit 140 is configured to detect the departure detection plate 600 or the detection color when both the left departure detection sensor 420 and the right departure detection sensor 410 detect the departure detection plate 600 or the detection color. to perform a step of determining that it has departed (S341).

When the above-described phenomenon occurs, when the information determined by the departure direction determination operation unit 140 is transmitted to the front/rear motor controller 130 in real time, the front/rear motor controller 130 performs the calculation and then the front motor A step of transmitting the first deceleration command signal set to the speed controller 117 is performed (S342).

The front/rear motor controller 130 transmits the first deceleration command signal to the front motor speed controller 117 and, as described above, a control mechanism when the front of the electric bogie is ahead of the rear or the rear is ahead of the front. performing the step of applying (S343).

By applying the above-described control mechanism, the left departure detection sensor 420 and the right departure detection sensor 410 do not deviate from the departure detection plate 600 and while maintaining the set distance range or the reference color range of the detection plate Controls the running of the electric cart while maintaining

In the above, the technical idea of the present invention has been described along with the accompanying drawings, but this is an exemplary description of a preferred embodiment of the present invention and does not limit the present invention. In addition, it is clear that anyone with ordinary knowledge in the technical field to which the present invention pertains can make various modifications and imitations within the scope of the technical spirit of the present invention.

1: Trackless electric bogie
100: drive unit
110: front drive unit
117: front motor speed controller
118: rear motor speed controller
120: rear drive unit
130: front and rear motor controller
140: departure direction determination operation unit
200: bogie gap sensing unit
300: reflector
400: departure detection sensor
500: individual controller
600: departure detection plate
700: main control module

Claims (6)

a driving unit that provides a driving force for moving the electric vehicle;
a bogie gap sensing unit for detecting the left and right gaps between the left and right electric bogies;
a reflector formed on the side of the electric bogie to reflect the light irradiated from the bogie gap sensing unit;
a departure detection sensor formed on the rear left and right sides of the electric bogie and detecting the departure of the electric bogie through color and metal detection;
a departure detection plate to which a tape of a color distinct from the ground surface is adhered, or a metal plate formed on the floor surface by being painted in a color distinct from the ground floor surface, and reflecting light and a magnetic field irradiated from the departure detection sensor;
an individual controller mounted individually on the electric bogie to control the electric bogie; and
Including a; a main controller connected to the plurality of individual controllers to control the plurality of electric bogies as a whole
The departure detection sensor
a color sensor that irradiates light having an RGB component to the departure detection plate, detects the color of the reflected light according to the color of the departure detection plate, and detects the color of the departure detection plate; and a metal detection sensor that transmits a magnetic field from the transmission coil to the metal and receives the magnetic field generated by the metal from the reception coil to detect the metal; Trackless electric bogie running control device using a color sensor and a metal sensor, comprising: .
delete delete delete The method of claim 1,
The departure detection plate
Trackless transmission using a color sensor and a metal sensor, characterized in that the metal of a predetermined thickness is bent in a 'C' structure, the open part is inserted into the ground to a predetermined depth, and the non-open part is formed to be exposed at the same height as the ground Bogie driving control system.
6. The method of claim 5,
The departure detection plate
Using a color sensor and a metal sensor, characterized in that the surface of the non-open part formed to be exposed at the same height as the ground is adhered with a tape of a color different from the ground surface or painted in a color different from the ground floor surface Trackless electric bogie driving control system.

Images