KR19980038112A - Operation direction display device and method of unmanned transportation vehicle - Google Patents
Operation direction display device and method of unmanned transportation vehicle Download PDFInfo
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- KR19980038112A KR19980038112A KR1019960056969A KR19960056969A KR19980038112A KR 19980038112 A KR19980038112 A KR 19980038112A KR 1019960056969 A KR1019960056969 A KR 1019960056969A KR 19960056969 A KR19960056969 A KR 19960056969A KR 19980038112 A KR19980038112 A KR 19980038112A
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- South Korea
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- unmanned
- unmanned vehicle
- driving direction
- transportation vehicle
- unmanned transportation
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000004397 blinking Effects 0.000 claims abstract description 8
- 230000002265 prevention Effects 0.000 abstract 1
- 108010009254 Lysosomal-Associated Membrane Protein 1 Proteins 0.000 description 7
- 102100035133 Lysosome-associated membrane glycoprotein 1 Human genes 0.000 description 7
- 238000010586 diagram Methods 0.000 description 2
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/10—Indexing codes relating to particular vehicle conditions
- B60Q2300/14—Other vehicle conditions
- B60Q2300/142—Turn signal actuation
Abstract
본 발명은 무인운반차의 운행방향표시장치 및 방법에 관한 것이다. 본 무인운반차의 운행방향표시장치는, 무인운반차 차체의 적어도 전방 좌우측에 각각 설치되는 방향표시등과, 상기 무인운반차의 운행방향에 따라 상기 해당 방향표시등을 점멸하는 제어부를 포함한다. 이에 의해, 무인운반차의 운행방향을 외부에 표시할 수 있게 되므로 무인운반차와 작업자의 충돌방지등의 안전사고를 예방할 수 있는 무인운반차의 운행방향표시장치가 제공된다.The present invention relates to a driving direction display device and method for an unmanned vehicle. The driving direction display apparatus of the unmanned transportation vehicle includes a direction indicator light provided on at least front left and right sides of the unmanned transportation vehicle body, and a controller for blinking the corresponding direction indicator light according to the driving direction of the unmanned transportation vehicle. As a result, the driving direction of the unmanned transportation vehicle can be displayed on the outside, thereby providing a driving direction display device for the unmanned transportation vehicle that can prevent safety accidents such as collision prevention of the unmanned transportation vehicle and the worker.
Description
본 발명은 무인운반차의 운행방향표시장치 및 방법에 관한 것으로, 특히 무인운반차의 전후방 좌우측에 각각 방향표시등을 설치하고 운행방향에 따라 해당 방향표시등이 점멸되는 무인운반차의 운행방향표시장치 및 방법에 관한 것이다.The present invention relates to a driving direction display device and method of the unmanned transportation vehicle, in particular, the direction of the display device is installed in the front and rear left and right sides of the unmanned vehicle, and the driving direction display device of the unmanned transportation vehicle that the corresponding direction indicator flashes according to the driving direction and It is about a method.
산업현장에서는 공장자동화용 무인운반차(AGV)가 이용되고 있다. 무인운반차는 설정된 궤도상을 주행하면서 물건을 운반하는 등의 작업을 수행하는 장치로, 일반적으로 궤도상에 설치된 전선 등의 피감지부로부터의 신호를 감지하여 궤도상을 주행하게 된다.In the industrial field, AGVs are used for factory automation. An unmanned vehicle is a device for carrying out tasks such as transporting an object while driving on a set track, and generally driving a track on a track by detecting a signal from a sensing unit such as an electric wire installed on the track.
그런데, 무인운반차는 설정된 궤도상의 곡선반경에 따라 주행속도가 변하게 되며, 또한 항상 설정된 궤도상을 이탈없이 정확히 주행한다고 할 수 없고, 물건의 적재 등을 위해 급작스런 방향전환이 필요한 경우도 생기게 된다.By the way, the unmanned transport vehicle changes the running speed according to the radius of curvature on the set track, and may not always be accurately driven without departing the set track, and there is a case where a sudden change of direction is required for loading the goods.
그러나, 종래의 무인운반차에는 운행방향을 외부에 표시하는 장치가 설치되어 있지 아니하므로, 무인운반차의 주위에서 작업하고 있는 작업자가 무인운반차의 운행방향을 예측할 수 없게 되거나 틀리게 되는 경우가 발생하게 된다. 이에 따라 무인운반차와 작업자가 충돌하게 되는 등의 안전사고를 유발할 수 있다는 문제점이 있다.However, the conventional unmanned vehicle does not have a device for displaying the driving direction externally, so that a worker working around the unmanned vehicle may not be able to predict the driving direction of the unmanned vehicle or may be wrong. Done. Accordingly, there is a problem that can cause a safety accident, such as collision between the unmanned vehicle and the worker.
따라서 본 발명의 목적은, 무인운반차의 운행방향을 외부에 표시할 수 있는 운행방향표시장치 및 방법을 제공하는 것이다.Accordingly, an object of the present invention is to provide a driving direction display apparatus and method capable of displaying the driving direction of an unmanned transportation vehicle to the outside.
도 1은 본 발명에 따른 운행방향장치를 구비한 무인운반차의 평면도,1 is a plan view of an unmanned transport vehicle having a driving direction device according to the present invention,
도 2는 제어부의 개략적 회로도이다.2 is a schematic circuit diagram of the control unit.
도면의 주요부분에 대한 부호의 설명Explanation of symbols for main parts of the drawings
10 : 차체 12 : 전방좌측 방향표시등10: body 12: front left turn indicator
14 : 전방우측 방향표시등 16 : 후방좌측 방향표시등14: front right turn indicator 16: rear left turn indicator
18 : 후방우측 방향표시등18: Right rear turn indicator
상기 목적은, 본 발명에 따라, 무인운반차 차체의 적어도 전방 좌우측에 각각 설치되는 방향표시등과, 상기 무인운반차의 운행방향에 따라 상기 해당 방향표시등을 점멸하는 제어부를 포함하는 것을 특징으로 하는 무인운반차의 운행방향표시장치에 의해 달성된다.The object of the present invention includes an unmanned vehicle including a direction indicator light provided on at least front left and right sides of the unmanned vehicle body, and a controller for blinking the corresponding direction indicator light according to a driving direction of the unmanned vehicle. It is achieved by the direction indication device of the carriage.
여기서, 상기 무인운반차 차체의 후방 좌우측에 각각 추가의 방향표시등이 설치되는 것이 바람직하며, 상기 제어부는 상기 무인운반차의 전후진행방향과 좌우선회방향에따라 각 해당 방향표시등을 점멸하도록 하고, 상기 무인운반차의 스핀턴의 경우 해당 대각선 방향표시등을 점멸하도록 하는 것이 바람직하다.Here, it is preferable that additional direction indicators are installed on the rear left and right sides of the unmanned vehicle body, and the control unit blinks the corresponding direction indicators according to the forward and backward directions and the left and right turning directions of the unmanned vehicle. In the case of the spin turn of the unmanned vehicle, it is preferable to make the corresponding diagonal direction indicator blink.
한편, 본 발명의 다른 분야에 따르면, 무인운반차 차체의 전방 좌우측에 방향표시등을 마련하는 단계와, 상기 무인운반차의 운행방향에 따라 상기 해당 방향표시등을 점멸하는 단계를 포함하는 무인운반차의 운행방향표시방법이 제공된다.On the other hand, according to another field of the present invention, providing a direction indicator on the front left and right sides of the unmanned vehicle body, and flashing the corresponding direction indicator in accordance with the driving direction of the unmanned vehicle body of the unmanned vehicle A driving direction indication method is provided.
이하, 도면을 참조하여 본 발명을 상세히 설명한다.Hereinafter, the present invention will be described in detail with reference to the drawings.
도 1은 본 발명에 따른 운행방향장치를 구비한 무인운반차의 개략적인 평면도이다. 무인운반차의 차체(10)에는 전방좌측 방향지시등(12), 전방우측 방향지시등(14), 후방좌측 방향지시등(16), 후방우측 방향지시등(18)이 설치되어 있고, 차체(10) 내부에는 무인운반차의 운행방향에 따라 해당 방향표시등(12,14,16,18)을 점멸하기 위한 제어부(미도시)가 설치되어 있다.1 is a schematic plan view of an unmanned transport vehicle having a driving direction apparatus according to the present invention. The vehicle body 10 of the unmanned vehicle is provided with a front left turn indicator 12, a front right turn indicator 14, a rear left turn indicator 16, and a rear right turn indicator 18. The control unit (not shown) for blinking the corresponding direction indicator lights 12, 14, 16, 18 in accordance with the driving direction of the unmanned vehicle is installed.
제어부에 의해 점멸되는 방향표시등(12,14,16,18)의 위치는, 무인운반차가 전진하는 경우에는 전방좌우측의 방향표시등(12,14)이 점멸하게 되고, 무인운반차가 후진하는 경우에는 후방좌우측의 방향표시등(16,18)이 점멸한다. 또, 무인운반차가 좌측으로 선회하는 경우에는 전후방좌측 방향지시등(12,16)이 점멸하도록 하고, 우측으로 선회하는 경우에는 전후방우측 경보등(14,18)이 점멸하며, 무인운반차가 좌측으로 스핀 턴하는 경우에는 전방좌측 방향지시등(12)과 후방우측 방향지시등(18)이 점멸하며, 우측으로 스핀 턴하는 경우에는 전방우측 방향지시등(14)과 후방좌측 방향지시등(16)이 대각선 방향으로 점멸하도록 한다.When the unmanned vehicle moves forward, the direction indicators 12, 14 on the front left and right sides blink, and the unmanned vehicle reverses when the unmanned vehicle moves forward. The direction indicators 16 and 18 on the rear left and right sides blink. When the unmanned vehicle is turning to the left, the front and rear left direction indicators 12 and 16 blink, and when turning to the right, the front and rear right and left warning lights 14 and 18 blink, and the unmanned vehicle is spin-turned to the left. The front left turn indicator 12 and the rear right turn indicator 18 blink, and when turning to the right, the front right turn indicator 14 and the rear left turn indicator 16 blink in a diagonal direction. do.
따라서 이러한 방향표시등(12,14,16,18)의 점멸을 통해 무인운반차의 주위에서 작업하고 있는 작업자는 무인운반차의 운행방향을 예측할 수 있게 되므로 무인운반차와의 충돌방지등 안전사고를 예방할 수 있게 된다.Therefore, the worker who is working around the unmanned transport vehicle by blinking the direction indicators (12, 14, 16, 18) can predict the driving direction of the unmanned transport vehicle, thus preventing the collision with the unmanned transport vehicle. Can be prevented.
도 2는 방향표시등(12,14,16,18)의 점멸을 제어하기 위한 제어부의 걔략적인 회로도이다. 회로의 구성은, 무인운반차의 전후방 좌우측에 각각 설치되는 방향표시등(20,21,22,23)과, 방향표시등(20,21,22,23)에 전류를 공급하는 전원 Vcc(39)가 있고, 이 사이에는 릴레이(25,26,27,28) 및 트랜지스터(38)가 연결되어 전원 Vcc(39)로부터 방향표시등(20,21,22,23)로 흐르는 전류를 단속한다2 is a schematic circuit diagram of a control unit for controlling the blinking of the turn indicators 12, 14, 16 and 18. FIG. The circuit configuration includes the direction indicators 20, 21, 22, and 23 provided at the front, rear, left, and right sides of the unmanned vehicle and the power supply Vcc (39) for supplying current to the direction indicators 20, 21, 22, and 23. Between the relays 25, 26, 27, 28 and the transistor 38 to intercept currents flowing from the power supply Vcc 39 to the turn indicators 20, 21, 22, 23.
이때, 릴레이(25,26,27,28)는 마이크로프로세서(30)에 의해 구동제어되고, 마이크로프로세서(30)의 출력신호는 앞단에 설치된 버퍼(31)에 의해 버퍼링된다. 그리고, 스위치소자로 사용된 트랜지스터(31)는 베이스에 연결된 클럭발생회로(37)의 출력신호에 따라 단속되며, 클럭발생회로(37)에 접속된 가변저항기(36)는 클럭발생회로(37)의 출력신호 주파수를 조절한다.At this time, the relays 25, 26, 27, 28 are driven and controlled by the microprocessor 30, and the output signal of the microprocessor 30 is buffered by the buffer 31 provided at the front end. The transistor 31 used as the switch element is interrupted according to the output signal of the clock generation circuit 37 connected to the base, and the variable resistor 36 connected to the clock generation circuit 37 is the clock generation circuit 37. Adjust the output signal frequency.
이러한 구성에 의한 제어부의 동작은, 먼저 마이크로프로세서(30)가 무인운반차의 운행방향에 따라 점멸하고자 하는 방향표시등(20,21,22,23)을 선택하여 제어신호를 출력하게 된다. 예를 들어, 방향표시등 LAMP1(20)을 점멸하고자 하는 경우에는, 마이크로프로세서(30)의 제어신호가 버퍼(31)를 통과하여 릴레이 RL1(25)를 구동하게 되고, 이에 의해 방향표시등 LAMP1(20)과 트랜지스터(38)의 에미터 단자가 접속된다.In the operation of the controller by such a configuration, first, the microprocessor 30 selects the direction indicators 20, 21, 22, and 23 to blink according to the driving direction of the unmanned vehicle, and outputs a control signal. For example, when it is desired to flash the indicator lamp LAMP1 20, the control signal of the microprocessor 30 passes through the buffer 31 to drive the relay RL1 25, thereby driving the indicator lamp LAMP1. The emitter terminal of the transistor 20 and the transistor 38 are connected.
트랜지스터(38)는 베이스와 연결된 클럭발생회로(37)로부터 출력되는 출력신호가 하이(high)와 로우(low)사이에서 변함에 따라 ON 상태와 OFF 상태를 반복하게 된다. 트랜지스터(38)가 ON 상태인 경우에는, 전원 Vcc(39)로부터 흐르는 전류에 의해 방향표시등 LAMP1(20)은 점등하게 되고, 트랜지스터(38)가 OFF 상태인 경우에는, 전원 Vcc(39)로부터의 전류의 흐름이 차단되므로 방향지시등 LAMP1(20)은 소등하게 된다. 따라서 ON 상태와 OFF 상태를 반복하는 트랜지스터(38)에 의해 방향표시등 LAMP1(20)은 점멸하게 된다. 이때, 클럭발생회로(37)에 연결된 가변저항기(36)는 클럭발생회로(37)의 출력신호 주파수를 조절함으로써 트랜지스터(38)의 단속주기를 변화시키게 되고 이에 따라 방향표시등 LAMP1(20)의 점멸주기가 변하게 된다.The transistor 38 repeats the ON state and the OFF state as the output signal output from the clock generation circuit 37 connected to the base changes between high and low. When the transistor 38 is in the ON state, the indicator lamp LAMP1 20 is turned on by the current flowing from the power supply Vcc 39, and when the transistor 38 is in the OFF state, the turn indicator LAMP1 20 is turned off from the power supply Vcc 39. Since the flow of current is blocked, the turn indicator LAMP1 20 is turned off. Therefore, the turn indicator LAMP1 20 flashes by the transistor 38 repeating the ON state and the OFF state. At this time, the variable resistor 36 connected to the clock generation circuit 37 changes the intermittence period of the transistor 38 by adjusting the output signal frequency of the clock generation circuit 37 and accordingly changes the direction of the turn signal lamp LAMP1 20. The flashing cycle will change.
이러한 방식에 의해 모든 방향표시등(20,21,22,23)에 대해서도 점멸이 가능하게 되므로 무인운반차의 운행방향에 따라 해당 방향표시등(20,21,22,23)을 점멸할 수 있게 된다.In this manner, all the turn indicators 20, 21, 22, and 23 can also be flashed, so that the turn indicators 20, 21, 22, and 23 can blink according to the driving direction of the unmanned vehicle. do.
한편, 본 발명에 따른 무인운반차의 운행방향표시방법은, 무인운반차의 차체의 전후방 좌우측에 각각 방향표시등을 마련하고, 무인운반차의 운행방향에 따라 해당 방향표시등을 점멸함으로써 간단히 이루어 진다. 이때, 점멸되는 방향표시등의 위치는 앞서 설명한 바와 같이 정해진다.On the other hand, the driving direction display method of the unmanned transportation vehicle according to the present invention is simply made by providing a direction indicator on the front and rear left and right sides of the vehicle body of the unmanned transportation vehicle, and flashing the corresponding direction indicator in accordance with the driving direction of the unmanned vehicle. At this time, the position of the blinking direction indicator is determined as described above.
또한, 상기의 예에서 설명한 방향표시등의 점멸위치는 사용자의 선택에 따라 마이크로프로세서의 프로그램을 변경함으로써 간단히 변경할 수 있으므로 여러가지 용도에 따른 응용이 가능하다.In addition, since the blinking position of the direction indicator described in the above example can be simply changed by changing the program of the microprocessor according to the user's selection, application for various purposes is possible.
이상 설명한 바와 같이, 본 발명에 따르면, 무인운반차의 전후방 좌우측에 운행방향에 따라 점멸하는 방향표시등을 설치하여 안전사고를 예방할 수 있는 운행방향표시장치 및 방법이 제공된다.As described above, according to the present invention, there is provided a driving direction display device and method that can prevent the safety accident by installing a direction indicator flashing in accordance with the driving direction on the front and rear left and right sides of the unmanned vehicle.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019960056969A KR100213635B1 (en) | 1996-11-23 | 1996-11-23 | Driving direction display and method of auto-vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019960056969A KR100213635B1 (en) | 1996-11-23 | 1996-11-23 | Driving direction display and method of auto-vehicle |
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| Publication Number | Publication Date |
|---|---|
| KR19980038112A true KR19980038112A (en) | 1998-08-05 |
| KR100213635B1 KR100213635B1 (en) | 1999-08-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| KR1019960056969A KR100213635B1 (en) | 1996-11-23 | 1996-11-23 | Driving direction display and method of auto-vehicle |
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| KR (1) | KR100213635B1 (en) |
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| KR100213635B1 (en) | 1999-08-02 |
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