KR20090059591A - Bar magnet install methor for precision stop of vehicle and precision stoping use it - Google Patents

Abstract

A magnet array method and a stopping method using the same are provided to prevent accident of an auto guide vehicle by accurately stopping an unmanned auto guide vehicle at a station. A road(20) is divided into a random section(RS) and a pattern section(PS). A plurality of magnets(40) is installed according to a reference line(30) of the road in the random section. A polarity of a plurality of magnets is randomly arranged in the random section. A plurality of magnets is installed according to the reference line of the road in the pattern section. A polarity of a plurality of magnets is arranged in the pattern section with a fixed pattern. A plurality of magnetic detectors(51) is installed in a bottom part of an auto guide vehicle(50). A plurality of magnetic detectors detects a magnetic field of a plurality of magnets installed according to the reference line of the road.

Description

Magnet alignment method for precision stop of automatic guided vehicle and precision stop method using the same. {Bar magnet install methor for precision stop of vehicle and precision stoping use it}

The present invention relates to a magnet arranging method of an automatic guided vehicle for automatically guiding a vehicle along a path of a magnet embedded in a road without a driver by embedding a magnet on a road on which the vehicle travels, and in particular, The present invention relates to a magnet arrangement method for precise stop of an automatic guided vehicle on a road on which the automatic guided vehicle runs so that the automatic guided vehicle can be accurately stopped at a prescribed position of the station and a precision stop method using the same.

In general, an automatic guided vehicle traveling without a driver of a vehicle randomly embeds magnets in all sections of a road along a reference line, which is a reference point of vehicle movement, and the vehicle detects a magnetic field of the magnet embedded in a road. You are automatically guided along the defined route without a driver.

As described above, the automatic guided vehicle detects the magnetic field of the magnet embedded in the road and travels along the prescribed path, and the magnetic field of one or two magnets installed along the reference line due to the malfunction of the magnetic field detector installed in the vehicle or the foreign matter of the road generating the magnetic field. Even if it is not detected, the lost magnetic field information may be restored by the magnetic field information detected after the lost magnetic field information, so that the automatic guide vehicle may travel along a prescribed route.

However, if the automatic guided vehicle fails to detect the magnetic field of the magnet embedded in the road when the vehicle enters the station for getting on and off the passenger, the automatic guided vehicle does not stop accurately at the prescribed stop position of the station, which is very inconvenient for passengers to get on and off. Become. In particular, getting on and off of a passenger with a wheelchair or a stroller carrying a stroller becomes more inconvenient, and a safety accident may occur because the automatic guide vehicle does not stop at the prescribed position of the station.

The present invention has been made to solve the above problems, when the vehicle that is automatically guided in the unmanned route stops at the station for getting on and off the passenger, the magnetic field detector of the vehicle detects the magnetic field information of several magnets To provide a magnet arrangement method for the precision stop of the automatic guided vehicle so that the controller of the vehicle corrects the lost magnetic field information so that the automatic guided vehicle stops precisely at the prescribed position of the station. It is an object of the present invention.

In order to achieve the above object, the present invention provides a magnet arrangement method for precision stop of a vehicle that is automatically guided by a magnetic field, comprising: random sections in which magnets are randomly installed at predetermined intervals on a road, and magnets at predetermined intervals on the road; It consists of pattern sections provided in this constant pattern.

In this case, the random section is embedded in the road so that the magnetic polarity of the road surface becomes an arbitrary polarity.

At this time, the magnet is preferably embedded in the road at intervals of 4 ~ 5m.

In addition, the pattern section is embedded in the road by arranging the polarity of the magnet in a prescribed pattern.

In this case, the magnet is preferably embedded in a 0.5 ~ 1.0m interval.

At this time, the pattern is preferably made of one N pole and one S pole alternately.

In addition, the pattern is preferably made by alternating a predetermined number of N poles and a predetermined number of S poles.

In addition, the magnet is preferably any one of a permanent magnet or an electromagnet.

The present invention includes a recognition step of recognizing magnetic field information detected by a magnetic field detector, a pattern section checking step of checking whether the recognized magnetic field information is a pattern section, and a pattern command performing a pattern command of the pattern section. It consists of steps.

At this time, after the pattern section checking step, the pattern matching step of checking whether the recognized pattern information and the pattern information stored in the database match, and if there is a missing pattern in the recognized pattern information stored in the database Preferably, the pattern correction step of correcting the missing pattern based on the pattern information is further included.

According to the magnet arrangement method for the precision stop of the automatic guide vehicle according to the present invention and the precision stop method using the same, when the vehicle that is automatically guided the route defined as unmanned stops at the station for getting on and off the passenger, the magnetic field of the vehicle Even if the detector fails to detect the magnetic field information of several magnets, the controller of the vehicle corrects the lost magnetic field information so that the automatic guided vehicle stops exactly at the prescribed position of the station, making passengers getting on and off very convenient. Safety accidents can be prevented beforehand.

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

1 is a view showing a magnet arrangement for the precision stop of the automatic guided vehicle according to the present invention, Figure 2 is a view illustrating the various pattern types of the pattern section of the present invention, Figure 3 is an automatic according to the present invention It is a figure which shows the step of the precision stop method of a guide vehicle.

The arrangement of the magnet 40 for the precision stop of the station 10 of the automatic guide vehicle 50 of the present invention is the arrangement of the magnet 40 for the precision stop of the station 10 of the automatic guide vehicle 50 that is automatically guided by a magnetic field. The method includes a random section RS in which magnets are randomly installed at predetermined intervals on the road 20, and a pattern section PS in which magnets 40 are formed in a predetermined pattern at predetermined intervals on the road 20. .

The random section RS is embedded in the roadway 20 so that the polarity of the magnet 40 on the road surface becomes an arbitrary polarity. And the magnet 40 is preferably embedded in the road 20 at intervals of 4 ~ 5m.

As shown in FIG. 1, the unmanned automatic guided vehicle 50 includes a magnet in which a magnetic field detector 51 installed below the automatic guided vehicle 50 is embedded along a reference line 30 of the road 20. The auto guide vehicle 50 is configured to travel along the reference line 30 of the roadway 20 by detecting the magnetic field of the road 40. Since the magnetic field detector 51 of the automatic guide vehicle 50 is a known technique, a detailed description of the magnetic field detector 51 will be omitted.

As shown in FIG. 1, magnets 40 are continuously buried along the reference line 30 of the road 20 at predetermined intervals in the driving section of the automatic guide vehicle 50. When the magnet 40 is embedded in the driving section, random poles are embedded to randomly face the road 20 surface without distinguishing between the north pole and the south pole of the magnet 40. As described above, a section in which the magnet 40 is randomly embedded along the reference line 30 regardless of polarity is a random section RS, and the random section RS is a road of a path on which the automatic guide vehicle 50 is defined. It is a section to travel 20.

In the random section RS, it is preferable to bury the magnet 40 at intervals of 4 to 5 m along the reference line 30 of the road 20. If the random section RS includes the reference line 30 of the random section RS, Accordingly, when the magnet 40 is buried at intervals smaller than 4 m, installation costs, labor costs, and air are high. If the magnet 40 is buried at intervals larger than 5 m along the baseline 30 of the random section RS, the guide is automatically guided. Since the magnetic field detector 51 of the auto guide vehicle 50 does not continuously detect the magnetic field of the magnet 40 because the magnetic field detector 51 provided at the lower portion of the vehicle 50 is larger than the interval of the magnetic field detector 51. There may be errors in driving.

The pattern section PS is embedded in the road 20 by arranging the polarities of the magnets 40 in a prescribed pattern, and the magnet 40 of the pattern section PS is the road 20. Recline at intervals of 0.5 to 1.0m along the reference line 30 of the.

As shown in FIG. 1, in the section of the road 20 of the station 10 for getting on and off the passengers of the automatic guide vehicle 50, the magnets 40 are placed on the road in a specific pattern along the reference line 30 of the road 20. Embedded in a pattern defined to direct a specific polarity of the magnet 40 toward the surface of the road 20, and the magnet 40 embedded in the pattern section PS is a reference line 30 of the road 20. It is preferable to be buried at intervals of 0.5 ~ 1.0m along.

The magnet 40 embedded in the road 20 of the station 10 section is embedded at a narrow interval so that the automatic guide vehicle 50 stops at the correct position at the station 10. If the distance between the magnets 40 is greater than 1.0 m, the automatic guide vehicle 50 may not stop accurately at the prescribed position of the stop 10, and the distance between the magnets 40 of the pattern section PS is less than 0.5 m. If a large number of magnets 40 are embedded in the road 20, it is expensive to install a high speed controller for processing a large amount of magnetic field data.

The pattern of the pattern section PS is made of alternating one N-pole and one S-pole, or alternately a predetermined number of N-pole groups and a predetermined number of S-pole groups. The magnet 40 embedded in the pattern section is alternately buried so that the north pole and the south pole of the magnet 40 buried along the reference line 30 of the road 20 toward the surface of the road 20, A predetermined number of magnets 40 are buried so that the N poles face the surface of the road 20, and a predetermined number of magnets 40 and S poles are buried so as to face the surface of the road 20 so that the N pole group and the S pole group alternately. It is buried in the reference line 30 of the road 20.

In addition, the magnet 40 is embedded in the road 20 so that a part of the upper part is not exposed, and the magnet 40 may constitute the present invention by selecting any one of a permanent magnet or an electromagnet.

As described above, the magnet 40 is randomly embedded in the reference line 30 of the road 20 on which the automatic guide vehicle travels, and the reference line of the road 20 of the station 10 requiring precise stop of the automatic guide vehicle 50 ( By embedding the magnet 40 in a predetermined pattern 30, the automatic guide vehicle 50 can be stopped at the correct position of the station (10). The magnetic field detector 51 of the automatic guide vehicle 50 stops by detecting the magnetic field of the magnet 40 embedded in the reference line 30 of the road 20 as described above. Recognizing the pattern section (PS) of the road 20 to make a precise stop at the station 10. The method is as follows.

A recognition step of recognizing magnetic field information detected by the magnetic field detector 51 of the automatic guide vehicle 50, a pattern section checking step of checking whether the recognized magnetic field information is a pattern section PS, and the pattern It consists of a pattern command performing step of performing a pattern command of the section (PS).

After the pattern section checking step, the pattern matching step of checking whether the recognized pattern information matches the pattern information stored in the database, and if there is a missing pattern in the recognized pattern information, is stored in the database. A pattern correction step of correcting a missing pattern based on the pattern information is further included.

Referring to the magnet arrangement method and the precision stop method using the same for the precision stop of the automatic guided vehicle of the present invention configured as described above are as follows.

As shown in FIG. 1, the magnetic field detector 51 installed under the chassis of the automatic guide vehicle 50 detects the magnetic field of the magnet 40 embedded at predetermined intervals along the reference line 30 of the road 20. The automatic guide vehicle 50 travels along the reference line 30 of the road 20.

Two or three magnetic field detectors 51 of the auto guide vehicle 50 are installed in the lower portion of the chassis of the auto guide vehicle 50 in the lateral direction, and the magnetic field detectors 51 are formed on the reference line 30 of the road 20. Accordingly, the magnetic field of the embedded magnet 20 is detected and the speed and direction of the auto guide vehicle 50 are adjusted to travel along the reference line 30 of the road 20.

The reference line 30 of the road 20 on which the automatic guide vehicle 50 travels is randomly buried at intervals of 4 to 5 m along the reference line 30 without distinction between the N polarity and the S polarity of the magnet 40. In order to control the speed and direction of the vehicle when the guide vehicle 50 travels, since the magnetic field detected by the magnetic field detector 51 only needs to be continuously detected, it is randomly embedded regardless of the polarity of the magnet 40.

Then, when two to three magnetic field detectors 51 installed in the lower direction of the automatic guide vehicle 50 at predetermined intervals detect the magnetic field, the magnet 40 passing through the first magnetic field detector 51 in the driving direction of the vehicle is The magnet 40 has to pass through the first magnetic field detector 40 before being buried before passing through the second magnetic field detector 51, but the magnetic field detector 51 of the automatic guidance vehicle 50 continuously detects the magnetic field and guides the automatic guidance vehicle. Since the speed and direction of the 50 can be controlled, the magnet 40 embedded in the random section RS is embedded at intervals of 4 to 5 m.

If the magnet 40 is embedded at intervals smaller than 4 m, installation costs and labor costs are high when the driving route of the automatic guide vehicle 50 is long. If the magnet 40 is embedded at intervals larger than 5 m, the automatic guidance is performed. Since the magnetic field detector 51 of the vehicle 50 does not continuously detect the magnetic field, it is preferable to be embedded at intervals of 4 to 5 m.

As described above, when the automatic guided vehicle 50 that travels while detecting the magnetic field of the random section RS enters the station 10, the magnets have a predetermined pattern along the reference line 30 of the road 20 of the station 10. The automatic guide vehicle 50 stops at the prescribed position of the stop 10 by recognizing the pattern section PS embedded in the 40.

The pattern section PS is embedded in the reference line 30 of the entrance road 20 of the station 10 at intervals of 0.5 to 1.0 m in the polarity order of the predetermined magnet 40. The magnetic field detector 51 of the automatic guided vehicle 50 recognizes the magnetic field of the magnet 40 embedded in the section PS and stops at the station 10. At this time, since the magnet 40 is embedded in the pattern section PS at intervals of 0.5 to 1.0 m, the automatic guide vehicle 50 can accurately stop at the prescribed position of the stop 10.

If the distance between the magnet 10 of the pattern section PS is greater than 1.0 m, the automatic guide vehicle 50 may not accurately stop at the prescribed position of the stop 10, and the magnet of the pattern section PS (10) If the spacing is less than 0.5m, it is expensive to embed a large number of magnets 40 on the road 20, and the equipment cost is high because a high speed controller for processing a large amount of magnetic field data must be used. In the pattern section PS, the magnet 40 is preferably embedded at intervals of 0.5 to 1.0 m.

In addition, the controller (not shown) of the auto guide vehicle 50 runs while controlling the direction and speed of the auto guide vehicle 50 at the direction and interval of the magnetic field detected in the random section RS. When it reaches to) is determined that the magnetic field of the magnet 40 buried at a narrow interval compared to the random section (RS) is determined to enter the station (10), the controller (not shown) to stop at the station (10) By performing a pattern command, the automatic guide vehicle 50 stops at the correct position of the stop 10.

When the magnetic field detector 51 of the automatic guide vehicle 50 recognizes the pattern information composed of the plurality of magnets 40, an error occurs, or the magnetic field detector 51 is caused by a foreign substance that emits a magnetic field on the road 20. May not recognize one or two magnetic field information, so that the automatic guide vehicle 50 may not stop at the correct position of the stop 10. The present invention arranges the magnets 40 in the pattern section PS at intervals of 0.5 to 1.0 m, but arranges the N poles and the S poles of the magnets 40 in a prescribed pattern, thereby preventing the magnetic field detector 51 from recognizing the magnetic field. By correcting the information, the automatic guide vehicle 50 can be stopped at the correct position of the station 10.

FIG. 2 is a view illustrating a pattern of the magnet 40 embedded along the reference line 30 of the pattern section PS, where “•” is a magnet 40 embedded so that the N pole faces the surface of the road 20. "○" shows the magnet 40 embedded so that the S pole faces the surface of the road 20.

The first type of the pattern of the above-described pattern section PS is a pattern in which the N pole and the S pole of the magnet 40 are alternated with each other, and the magnetic guide detector 50 enters the station 10 while the automatic guide vehicle 50 enters the station 10. The 51 recognizes the magnetic field of the pattern section PS as "N pole-S pole-N pole-S pole-N pole-S pole-N pole-S pole ...." and enters the station 10. If the magnetic field detector 51 does not recognize some magnetic field information due to an error or a foreign substance of the magnetic field detector 51, the magnetic field detector 51 of the automatic guided vehicle 50 is " N pole-S pole-S pole-N pole-S pole- N pole-S pole .... ", the controller (not shown) of the automatic guide vehicle 50 is recognized by the magnetic field of the same polarity is input continuously and corrected by correcting the missing pattern information, automatic guidance The vehicle 50 can be accurately stopped at the station 10.

However, in the first type of pattern formed by alternating the N pole and the S pole as described above, when the magnetic field detector 51 does not recognize one pattern information, pattern information having the same polarity is input to the controller (not shown). The controller may correct this and stop the automatic guide vehicle 50 at the correct position of the station 10. However, if the magnetic field detector 51 does not recognize two pattern information consecutively, the magnetic field of different polarity may be used. This continuous input prevents the controller from determining that it is normal and stopping the automatic guide vehicle 50 at the prescribed position of the stop 10.

The second to fifth patterns shown in FIG. 2 are patterns in which the magnets 40 are arranged in polarities so that the controller can correct them even if the automatic guide vehicle 50 does not recognize the two pattern information continuously. The predetermined number of magnets 40 are continuously arranged in the N poles, and the predetermined number of magnets 40 are continuously arranged in the S poles.

When the magnetic field detector 51 recognizes the pattern information in which the predetermined number of magnets 40 are continuously arranged in the N poles and the predetermined number of magnets 40 are arranged in the S poles as described above, two or more pattern information is recognized. If not, the controller compares the normal pattern information stored in the database with the pattern information input from the magnetic field detector 51 and corrects the missing pattern information so that the automatic guide vehicle 50 can be accurately positioned at the station 10. Allow to stop.

For example, when the magnet 40 is embedded in the pattern section PS in the form of the fourth pattern of FIG. 2, the magnetic field detector 51 of the automatic guide vehicle 50 entering the station 10 normally patterns. When recognizing the information, the controller receives the pattern information of "1 (N) -4 (S) -3 (N) -2 (S) -1 (N)". However, "1 (N) -2 (S) -3 (N) -2 (S) -1 (N)" or "1 (N)-by the error of the magnetic field detector 51 or foreign matter on the road 20. If two pattern informations are inputted to the controller in the form of 4 (S) -2 (N) -1 (S) -1 (N) ", the controller returns" 1 (N) which is normal pattern information stored in the database. -4 (S) -3 (N) -2 (S) -1 (N) "and the pattern information recognized by the magnetic field detector 51, and when the missing pattern information is confirmed, it is corrected and the automatic guide vehicle ( 50) is accurately stopped at the prescribed position of the station (10).

As described above, the correction of the missing pattern information is performed as shown in FIG. 3.

A recognition step of recognizing the magnetic field information detected by the magnetic field detector 51 of the automatic guide vehicle 50 while driving, and identifying the recognized magnetic field information to determine whether the current automatic guide vehicle 50 enters the station 10. A pattern section checking step of checking the pattern section, a pattern matching step of checking whether or not the automatic guide vehicle 50 enters the stop 10 and whether the recognized pattern information matches the pattern information stored in the database, and the recognized pattern information. Pattern correction step of correcting the missing pattern based on the pattern information stored in the database, and performing a pattern command (stopping at the position defined in the station) of the pattern section when there is a missing pattern in the database. It is composed.

By using the above method, an unmanned automatic guided vehicle stops accurately at a prescribed position of a station so that a disabled person in a wheelchair, a passenger with a stroller, and a child can easily ride the vehicle.

In the above, the magnet arrangement method and the precision stop method using the same for the precision stop of the automatic guide vehicle according to the present invention have been described. The technical configuration of the present invention will be understood by those skilled in the art that the present invention can be implemented in other specific forms without changing the technical spirit or essential features.

Therefore, the above-described embodiments are to be understood in all respects as illustrative and not restrictive, and the scope of the present invention is indicated by the appended claims rather than the foregoing description, and the meanings of the claims and All changes or modifications derived from the scope and equivalent concepts thereof should be construed as being included in the scope of the present invention.

1 is a view showing a magnet arrangement for the precision stop of the automatic guided vehicle according to the present invention.

2 is a diagram illustrating the various pattern types of the pattern section of the present invention.

Figure 3 is a view showing the steps of the station precision stop method for automatic guided vehicle according to the present invention.

<Explanation of symbols for the main parts of the drawings>

10: stop 20: road

30: baseline 40: magnet

50: automatic guided vehicle 51: magnetic field detector

RS: Random section

PS: Pattern section

Claims (10)

In the magnet arrangement method for the precision stop of the vehicle automatically guided by the magnetic field, And a random section in which magnets are randomly installed at predetermined intervals on the road, and a pattern section in which the magnets are arranged in a predetermined pattern at predetermined intervals on the road. The method of claim 1, The random section is a magnet arrangement method for a precision stop of the automatic guided vehicle, characterized in that embedded in the road so that the magnet polarity of the road surface is an arbitrary polarity. The method of claim 2, The magnet arrangement method for a precision stop of the automatic guided vehicle, characterized in that embedded in the road at intervals of 4 ~ 5m. The method of claim 1, The pattern section is a magnet arrangement method for a precision stop of the automatic guided vehicle, characterized in that embedded in the road by arranging the polarity of the magnet in a prescribed pattern. The method of claim 4, wherein The magnet arrangement method for a precision stop of the automatic guided vehicle, characterized in that the buried 0.5 to 1.0m intervals. The method of claim 5, The pattern is a magnet arrangement method for a precision stop of the automatic guide vehicle, characterized in that the alternating one N pole and one S pole. The method of claim 5, The pattern is a magnet arrangement method for a precision stop of the automatic guide vehicle, characterized in that the alternating number of N poles and a predetermined number of S poles. The method according to claim 1, wherein The magnet is a magnet arrangement method for a precision stop of the automatic guided vehicle, characterized in that any one of a permanent magnet or an electromagnet. A recognition step of recognizing magnetic field information detected by the magnetic field detector; and A pattern section checking step of identifying the pattern section by identifying the recognized magnetic field information; and And a pattern command performing step of performing a pattern command of the pattern section. The method of claim 9, A pattern matching checking step of checking whether or not the recognized pattern information matches the pattern information stored in the database after the pattern section checking step; And a pattern correction step of correcting the missing pattern based on the pattern information stored in the database when there is a missing pattern in the recognized pattern information.

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