KR20120074476A - Position measuring device for automatic guided vehicle - Google Patents

Position measuring device for automatic guided vehicle Download PDF

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Publication number
KR20120074476A
KR20120074476A KR1020100136327A KR20100136327A KR20120074476A KR 20120074476 A KR20120074476 A KR 20120074476A KR 1020100136327 A KR1020100136327 A KR 1020100136327A KR 20100136327 A KR20100136327 A KR 20100136327A KR 20120074476 A KR20120074476 A KR 20120074476A
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South Korea
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unit
unmanned vehicle
sensor unit
sensor
measured
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KR1020100136327A
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Korean (ko)
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KR101246225B1 (en
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한종기
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현대제철 주식회사
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
    • G01B11/167—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge by projecting a pattern on the object
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M1/00—Power supply lines for contact with collector on vehicle
    • B60M1/02—Details
    • B60M1/10—Arrangements for energising and de-energising power line sections using magnetic actuation by the passing vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
    • B61L25/023—Determination of driving direction of vehicle or vehicle train
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed

Abstract

PURPOSE: A position measuring device for an unmanned trolley is provided to prevent a contact of sensor units and a sensing object unit even in the state that an unmanned trolley is tilted by abrasion of a wheel member, thereby preventing damage to the sensor units. CONSTITUTION: A position measuring device for an unmanned trolley comprises a bracket member(30), sensor units(40), and a sensing object unit(60). The bracket member is fixed on the lower part of an unmanned trolley. The sensor units are installed in a plurality of measuring spaces of the bracket member and measure the existence of a measuring object without contacts. The sensing object unit is installed by being spaced from the sensor unit. Portions measured by the sensor unit and portions not measured by the sensor unit of each measuring space are classified so that the sensing object unit is installed.

Description

무인대차용 위치 측정장치{POSITION MEASURING DEVICE FOR AUTOMATIC GUIDED VEHICLE}Position measuring device for unmanned vehicle {POSITION MEASURING DEVICE FOR AUTOMATIC GUIDED VEHICLE}

본 발명은 무인대차용 위치 측정장치에 관한 것으로서, 보다 상세하게는 센서부의 파손을 방지하여 유지보수 비용을 절감할 수 있는 무인대차용 위치 측정장치에 관한 것이다.
The present invention relates to an unmanned vehicle position measuring apparatus, and more particularly, to an unmanned vehicle position measuring apparatus that can reduce the maintenance cost by preventing damage to the sensor unit.

일반적으로, 무인대차는 설치된 레일을 따라 이동하면서 설정된 지점으로 운송물을 운반하는 장치이다.In general, a drone is a device that carries a shipment to a set point while moving along an installed rail.

이러한 무인대차는 사람의 탑승 없이도 자동으로 이동되며, 제철소에서 사용되는 무인대차는 운송물로 코일을 주로 운반한다.Such drones are automatically moved without the need for human boarding, and the drones used in steel mills mainly carry coils as transportation goods.

상기한 기술구성은 본 발명의 이해를 돕기 위한 배경기술로서, 본 발명이 속하는 기술분야에서 널리 알려진 종래기술을 의미하는 것은 아니다.
The above technical configuration is a background art for helping understanding of the present invention, and does not mean a conventional technology well known in the art.

본 발명은, 레일을 따라 이동되는 무인대차의 위치를 용이하게 측정할 수 있으며, 무인대차의 비정상적인 운전에도 센서부의 파손을 방지하여 유지보수 비용을 절감할 수 있는 무인대차용 위치 측정장치를 제공하는데 그 목적이 있다.
The present invention, it is possible to easily measure the position of the unmanned vehicle moved along the rail, and to provide an unmanned vehicle position measuring apparatus that can reduce the maintenance cost by preventing the breakage of the sensor unit even in the abnormal operation of the unmanned vehicle. The purpose is.

본 발명에 따른 무인대차용 위치 측정장치는: 무인대차의 하측에 고정되는 브라켓부재와, 브라켓부재에 복수개의 측정공간마다 설치되며 비접촉식으로 측정대상물의 유무를 측정하는 센서부 및 센서부와 이격 설치되며 복수개의 측정공간마다 센서부에 측정되는 부분과 측정되지 않는 부분이 구분되어 설치되는 감지대상부를 포함한다.The position measuring device for an unmanned vehicle according to the present invention includes: a bracket member fixed to a lower side of an unmanned vehicle, and installed in each of a plurality of measuring spaces on the bracket member and spaced apart from the sensor unit and the sensor unit for measuring the presence or absence of a measurement object in a non-contact manner. And a sensing target unit in which a portion measured and a non-measured portion are separately installed in each of the plurality of measurement spaces.

또한 센서부는, 무인대차의 진행방향과 교차하는 방향으로 열을 이루며 나란히 설치되는 것이 바람직하다.In addition, the sensor unit, it is preferable to be installed side by side in a row in a direction crossing the advancing direction of the unmanned vehicle.

또한 센서부는, 설정된 거리 이내의 물체를 감지하는 광센서인 것이 바람직하다.In addition, the sensor unit is preferably an optical sensor for detecting an object within a set distance.

또한 감지대상부는, 지지면에 고정되는 베이스부 및 베이스부에서 돌출되어 센서부에 측정되는 돌출부를 포함하는 것이 바람직하다.In addition, the sensing target portion preferably includes a base portion fixed to the support surface and a protrusion portion protruding from the base portion and measured by the sensor portion.

또한 본 발명은, 센서부의 측정값을 전달받아 무인대차의 이동을 제어하는 제어부를 더 포함하는 것이 바람직하다.
In another aspect, the present invention, the control unit for receiving the measured value of the sensor unit further controls the movement of the driverless vehicle.

본 발명에 따른 무인대차용 위치 측정장치는, 비접촉으로 감지대상부를 측정하는 센서부가 감지대상부와 이격되어 무인대차에 설치되므로, 휠부재의 마모로 무인대차가 기울어진 상태에서도, 센서부와 감지대상부의 접촉이 방지되어 센서부의 파손을 방지할 수 있으며, 이에 따른 유지보수 비용도 절감할 수 있다.In the position measuring apparatus for the unmanned vehicle according to the present invention, since the sensor unit for measuring the sensing target portion in a non-contact is installed in the unmanned vehicle, even when the unmanned vehicle is inclined due to the wear of the wheel member, the sensing unit and the sensing unit Contact of the target part can be prevented to prevent breakage of the sensor part, thereby reducing maintenance costs.

또한 본 발명은, 무인대차의 이동 구간별로 돌출부의 설치 위치가 상이하므로, 센서부와 연결된 제어부에서 무인대차의 이동 구간을 용이하게 측정하여 무인대차의 관리를 효율적으로 할 수 있다.
In addition, the present invention, since the installation position of the protrusions are different for each moving section of the unmanned vehicle, it is possible to efficiently manage the unmanned vehicle by easily measuring the moving section of the unmanned vehicle in the control unit connected to the sensor unit.

도 1은 본 발명의 일 실시예에 따른 무인대차용 위치 측정장치가 설치된 상태를 개략적으로 도시한 정면도이다.
도 2는 본 발명의 일 실시예에 따른 무인대차용 위치 측정장치를 도시한 사시도이다.
도 3은 본 발명의 일 실시예에 따른 센서부와 감지대상부를 분리 도시하는 분해 사시도이다.
도 4는 본 발명의 일 실시예에 따른 무인대차용 위치 측정장치의 블록도이다.1 is a front view schematically showing a state in which an unmanned vehicle position measuring apparatus according to an embodiment of the present invention is installed.
Figure 2 is a perspective view showing a position measuring device for an unmanned vehicle according to an embodiment of the present invention.
3 is an exploded perspective view illustrating the sensor unit and the sensing target unit separated according to an embodiment of the present invention.
Figure 4 is a block diagram of the position measuring device for the unmanned vehicle according to an embodiment of the present invention.

이하, 첨부된 도면들을 참조하여 본 발명에 따른 무인대차용 위치 측정장치의 일 실시예를 설명한다. 설명의 편의를 위해 제철소에서 사용되는 무인대차용 위치 측정장치를 예로 들어 설명한다. 이 과정에서 도면에 도시된 선들의 두께나 구성요소의 크기 등은 설명의 명료성과 편의상 과장되게 도시되어 있을 수 있다. 또한, 후술되는 용어들은 본 발명에서의 기능을 고려하여 정의된 용어들로서 이는 사용자, 운용자의 의도 또는 관례에 따라 달라질 수 있다. 그러므로, 이러한 용어들에 대한 정의는 본 명세서 전반에 걸친 내용을 토대로 내려져야 할 것이다.
Hereinafter, with reference to the accompanying drawings will be described an embodiment of an unmanned vehicle position measuring apparatus according to the present invention. For convenience of explanation, the position measuring device for the unmanned vehicle used in the steel mill will be described as an example. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, terms to be described below are terms defined in consideration of functions in the present invention, which may vary according to the intention or convention of a user or an operator. Therefore, definitions of these terms should be made based on the contents throughout the specification.

도 1은 본 발명의 일 실시예에 따른 무인대차용 위치 측정장치가 설치된 상태를 개략적으로 도시한 정면도이며, 도 2는 본 발명의 일 실시예에 따른 무인대차용 위치 측정장치를 도시한 사시도이며, 도 3은 본 발명의 일 실시예에 따른 센서부와 감지대상부를 분리 도시하는 분해 사시도이며, 도 4는 본 발명의 일 실시예에 따른 무인대차용 위치 측정장치의 블록도이다.1 is a front view schematically showing a state in which an unmanned vehicle position measuring device is installed according to an embodiment of the present invention, Figure 2 is a perspective view showing a position measuring device for a vehicle according to an embodiment of the present invention. 3 is an exploded perspective view illustrating a sensor unit and a sensing target unit according to an embodiment of the present invention, and FIG. 4 is a block diagram of the position measuring device for an unmanned vehicle according to an embodiment of the present invention.

도 1 내지 도 4에 도시된 바와 같이, 본 발명의 일 실시예에 따른 무인대차용 위치 측정장치(1)는, 무인대차(10)의 몸체부(12) 하측에 고정되는 브라켓부재(30)와, 브라켓부재(30)에 복수개의 측정공간(50)마다 설치되며 비접촉식으로 측정대상물의 유무를 측정하는 센서부(40) 및 센서부(40)와 이격 설치되며 복수개의 측정공간(50)마다 센서부(40)에 측정되는 부분과 측정되지 않는 부분이 구분되어 설치되는 감지대상부(60)를 포함한다.As shown in Figures 1 to 4, the position measuring device 1 for the unmanned vehicle according to an embodiment of the present invention, the bracket member 30 is fixed to the lower body portion 12 of the unmanned vehicle (10) And, the bracket member 30 is installed in each of the plurality of measuring spaces 50 and is installed spaced apart from the sensor unit 40 and the sensor unit 40 for measuring the presence or absence of the measurement object in a non-contact type, each of the plurality of measuring spaces 50 The sensor unit 40 includes a sensing target unit 60 in which portions to be measured and portions not to be measured are separately installed.

무인대차(10)는, 탑승자 없이 레일(22)을 따라 자동으로 이동하며, 운송물인 코일(24)을 설정된 장소로 이송시키는 기술사상 안에서 다양한 형상으로 변형될 수 있다.The unmanned vehicle 10 automatically moves along the rail 22 without occupants, and may be deformed into various shapes within the technical concept of transferring the coil 24, which is a vehicle, to a predetermined place.

일 실시예에 따른 무인대차(10)는, 하부에 동력부(14)를 구비하는 몸체부(12)와, 몸체부(12)의 상측(이하 도 1기준)에 코일(24)이 올려지는 공간을 형성하는 지지부재(18) 및 동력부(14)의 양측에 연결되어 레일(22)을 따라 회전되는 휠부재(16)를 포함한다.In the unmanned vehicle 10 according to an embodiment, the body portion 12 having the power unit 14 in the lower portion, and the coil 24 is placed on the upper side (hereinafter referred to in Figure 1) of the body portion 12 And a wheel member 16 connected to both sides of the support member 18 and the power unit 14 forming a space and rotating along the rail 22.

이러한 무인대차(10)의 몸체부(12) 하측에, 센서부(40)의 설치를 위한 브라켓부재(30)가 고정된다.Under the body portion 12 of the unmanned vehicle 10, the bracket member 30 for the installation of the sensor portion 40 is fixed.

브라켓부재(30)는, 무인대차(10)의 진행 방향과 교차하는 방향으로 지지브라켓(32)이 설치되며, 이러한 지지브라켓(32)을 따라 센서부(40)가 설치되기 위한 설치공(34)이 형성된다.The bracket member 30 is provided with a support bracket 32 in a direction crossing the traveling direction of the driverless vehicle 10, and an installation hole 34 for installing the sensor unit 40 along the support bracket 32. ) Is formed.

브라켓부재(30)의 하부에는 복수개의 측정공간(50)이 구비되며, 이러한 측정공간(50)의 상측에 위치하는 브라켓부재(30)에는 비접촉식으로 측정대상물의 유무를 측정하는 센서부(40)가 설치된다.The lower portion of the bracket member 30 is provided with a plurality of measuring spaces 50, the sensor member 40 for measuring the presence or absence of the measurement object in a non-contact manner to the bracket member 30 located above the measuring space (50). Is installed.

본 발명의 일 실시예에서는, 센서부(40)에 의해 측정되는 측정대상물로 감지대상부(60)를 사용한다.In one embodiment of the present invention, the sensing target unit 60 is used as the measuring object measured by the sensor unit 40.

센서부(40)는 비접촉식으로 동작되어 감지대상부(60)의 돌출부(64)를 감지하는 기술사상안에서 다양한 종류의 센서가 사용될 수 있다.The sensor unit 40 may be operated in a non-contact manner, and various types of sensors may be used in the technical concept of detecting the protrusion 64 of the sensing target unit 60.

일 실시예에 따른 센서부(40)는, 설정된 거리 이내의 물체를 감지하는 광센서를 사용한다.The sensor unit 40 according to an embodiment uses an optical sensor that detects an object within a set distance.

센서부(40)는, 측정대상물의 센싱이 이루어지는 복수개의 측정공간(50) 마다 센서부(40)가 설치된다.The sensor unit 40 is provided with a sensor unit 40 for each of the plurality of measurement spaces 50 in which sensing of a measurement object is performed.

일 실시예에 따른 측정공간(50)은 브라켓부재(30)와 지지면(20)의 사이에 5개의 측정공간(50)으로 나뉘어지며, 이러한 측정공간(50)에 5개의 센서가 설치된다.The measuring space 50 according to an embodiment is divided into five measuring spaces 50 between the bracket member 30 and the support surface 20, and five sensors are installed in the measuring space 50.

즉, 측정공간(50)은 제1공간(51), 제2공간(52), 제3공간(53), 제4공간(54) 및 제5공간(55)으로 구분되며, 이러한 측정공간(50)의 상측에 설치되는 센서부(40)는 제1센서(41), 제2센서(42), 제3센서(43), 제4센서(44) 및 제5센서(45)를 포함한다.That is, the measurement space 50 is divided into a first space 51, a second space 52, a third space 53, a fourth space 54, and a fifth space 55. The sensor unit 40 installed above the 50 includes a first sensor 41, a second sensor 42, a third sensor 43, a fourth sensor 44, and a fifth sensor 45. .

센서부(40)는 고정부재(46)의 체결로 지지브라켓(32)의 설치공(34)에 고정되며, 이러한 측정공간(50)의 개수 및 센서부(40)의 개수는 필요에 따라 증감될 수 있다.The sensor unit 40 is fixed to the installation hole 34 of the support bracket 32 by the fastening of the fixing member 46, the number of the measurement space 50 and the number of the sensor unit 40 is increased or decreased as necessary. Can be.

센서부(40)는, 무인대차(10)의 진행방향과 교차하는 방향으로 열을 이루며 나란히 설치되며, 일 실시예에 따른 센서부(40)는 무인대차(10)의 폭방향(도 1기준 좌우 방향)을 따라 나란히 설치된다.The sensor unit 40 is installed side by side in a direction crossing the traveling direction of the unmanned vehicle 10, the sensor unit 40 according to an embodiment of the width direction of the unmanned vehicle 10 (see Fig. 1) Side by side).

센서부(40)에 의해 측정이 이루어지는 감지대상부(60)는, 센서부(40)가 이동되는 경로를 따라 센서부(40)와 이격 설치된다.The sensing target unit 60, which is measured by the sensor unit 40, is spaced apart from the sensor unit 40 along a path along which the sensor unit 40 moves.

무인대차(10)가 이동되는 구간별로 감지대상부(60)가 설치되며, 이러한 감지대상부(60)는 레일(22)과 레일(22) 사이의 지지면(20)에 설치된다.The sensing target unit 60 is installed for each section in which the driverless vehicle 10 is moved, and the sensing target unit 60 is installed on the support surface 20 between the rail 22 and the rail 22.

감지대상부(60)는 각 구간별로 돌출부(64)와 비측정부(68)의 설치 위치가 상이하므로, 복수개의 측정공간(50)마다 설치된 센서부(40)에서 측정된 값이 각 구간별로 상이하다.Since the detection target unit 60 has different installation positions of the protrusion 64 and the non-measurement unit 68 in each section, the values measured by the sensor unit 40 installed in each of the plurality of measurement spaces 50 are each section. It is different.

감지대상부(60)는, 복수개의 측정공간(50)마다 센서부(40)에 측정되는 부분과 측정되지 않는 부분이 구분되어 설치되는 기술사상 안에서 다양한 형상으로 형성될 수 있다.The sensing target unit 60 may be formed in various shapes within a technical concept in which the part measured in the sensor unit 40 and the part not measured are separately installed in each of the plurality of measurement spaces 50.

일 실시예에 따른 감지대상부(60)는, 센서부(40)의 이동 경로를 따라 지지면(20)에 고정되는 베이스부(62) 및 베이스부(62)에서 돌출되어 센서부(40)에 측정되는 돌출부(64)를 포함한다.The sensing object unit 60 according to the exemplary embodiment may protrude from the base part 62 and the base part 62 fixed to the support surface 20 along the moving path of the sensor part 40 to the sensor part 40. And a projection 64 measured at.

예를 들어, 센서부(40)는 10cm 이내로 접근하는 돌출부(64)를 인식하여 측정공간(50)에 돌출부(64)가 있는지 여부를 판단하며, 이로 인하여 베이스부(62)에서 상측으로 돌출 형성된 돌출부(64)는 센서부(40)와 이격 거리가 10cm 이내로 설정된다.For example, the sensor unit 40 recognizes the protrusion 64 approaching within 10 cm to determine whether the protrusion 64 is present in the measurement space 50, and thus protrudes upward from the base 62. Protruding portion 64 is set to 10 cm away from the sensor portion 40.

레일(22)을 따라 무인대차(10)가 이동하므로, 무인대차(10)의 몸체부(12)에 설치된 브라켓부재(30)와 센서부(40)도 무인대차(10)를 따라 이동된다.Since the driverless vehicle 10 moves along the rail 22, the bracket member 30 and the sensor unit 40 installed on the body portion 12 of the driverless vehicle 10 are also moved along the driverless vehicle 10.

감지대상부(60)는, 무인대차(10)가 이동되는 경로를 따라 설정된 구간마다 돌출부(64)의 설치 위치가 상이하므로, 이를 측정하는 센서부(40)에서는 해당 구간의 돌출부(64)를 측정하여 제어부(70)로 측정값을 전송한다.Since the installation position of the protrusions 64 is different for each of the sections set along the path in which the driverless vehicle 10 moves, the sensing unit 60 measures the protrusions 64 of the corresponding section. The measured value is transmitted to the controller 70.

제어부(70)는, 센서부(40)의 측정값을 전달받아 무인대차(10)의 이동구간을 파악하며, 이를 표시부(80)를 통해 표시하는 동시에, 무인대차(10)에 구비된 동력부(14)를 제어하므로 무인대차(10)의 이동을 제어한다.The control unit 70 receives the measured value of the sensor unit 40, grasps the moving section of the unmanned vehicle 10, displays it through the display unit 80, and at the same time, the power unit provided in the unmanned vehicle 10. Since the control unit 14 controls the movement of the unmanned vehicle 10.

센서부(40)에 측정되기 위하여 베이스부(62)에서 상측으로 돌출된 돌출부(64)는, 무인대차(10)의 이동경로를 따라 길게 돌출 형성되는 제1돌출부재(65)와, 제1돌출부재(65) 보다는 짧은 길이로 돌출 형성되는 제2돌출부재(66) 및 제2돌출부재(66)와 나란히 설치되지 않은 제3돌출부재(67)를 포함한다.The protruding portion 64 protruding upward from the base portion 62 to be measured by the sensor portion 40 includes a first protruding member 65 which protrudes along the moving path of the unmanned vehicle 10 and the first protruding portion 65. The second protruding member 66 protruding to a shorter length than the protruding member 65 and the third protruding member 67 which are not installed in parallel with the second protruding member 66 are included.

돌출부(64)가 설치되지 않은 베이스부(62)에는 센서부(40)에 의해 측정되지 않은 공간을 형성하는 비측정부(68)가 구비된다.The base portion 62 in which the protrusion 64 is not provided is provided with a non-measurement portion 68 that forms a space not measured by the sensor portion 40.

이러한 감지대상부(60)의 형상은 본 발명의 일 실시예에 따른 형상일 뿐, 복수개의 측정공간(50)마다 설정된 구간별로 돌출부(64)와 비측정부(68)를 형성하는 기술사상 안에서 감지대상부(60)의 형상은 다양한 형상으로 변형될 수 있다.The shape of the sensing target unit 60 is only a shape according to an embodiment of the present invention, and in the technical concept of forming the protrusions 64 and the non-measurement unit 68 for each section set in each of the plurality of measurement spaces 50. The shape of the sensing object unit 60 may be modified in various shapes.

이하에서는 첨부된 도면들을 참조하여 본 발명의 일 실시예에 따른 무인대차용 위치 측정장치(1)의 작동상태를 상세히 설명한다.Hereinafter, with reference to the accompanying drawings will be described in detail the operating state of the position measuring device 1 for the unmanned vehicle according to an embodiment of the present invention.

레일(22)을 따라 휠부재(16)가 회전되면서 무인대차(10)가 이동하면, 무인대차(10)가 이동되는 설정된 구간별로 설치된 감지대상부(60)는 센서부(40)에 의해 측정이 이루어진다.When the driverless vehicle 10 moves while the wheel member 16 is rotated along the rail 22, the sensing target unit 60 installed for each set section in which the driverless vehicle 10 moves is measured by the sensor unit 40. This is done.

무인대차(10)가 이동되는 각 구간별로, 센서부(40)의 측정이 이루어지는 측정공간(50)이 복수개 구비되며, 이러한 측정공간(50)마다 센서부(40)에 의해 측정이 이루어지는 돌출부(64)와 센서부(40)에 측정이 이루어지지 않는 비측정부(68)가 설정된 형상을 따라 설치된다.For each section in which the unmanned vehicle 10 is moved, a plurality of measurement spaces 50 in which the measurement of the sensor unit 40 is measured are provided, and the protrusions in which the measurement is performed by the sensor unit 40 in each of the measurement spaces 50 ( 64 and the non-measurement portion 68 in which the measurement is not made are installed along the set shape.

무인대차(10)와 함께 이동되는 센서부(40)는, 돌출부(64)와 비측정부(68)를 감지하여 제어부(70)로 측정신호를 보내므로, 제어부(70)는 센서부(40)에 의하여 측정이 이루어지는 측정공간(50)과 측정이 이루어지지 않는 측정공간(50)을 체크하여 무인대차(10)가 이동하는 구간을 파악할 수 있다.The sensor unit 40 moving together with the driverless vehicle 10 detects the protrusion 64 and the non-measuring unit 68 and sends a measurement signal to the control unit 70, so that the control unit 70 detects the sensor unit 40. By checking the measurement space 50 is measured and the measurement space 50 is not measured by the) can determine the section in which the unmanned vehicle 10 moves.

예를 들어, 센서부(40)의 측정이 이루어지는 측정공간(50)이 5개로 설정되면, 각 측정공간(50) 별로 5개의 센서가 각각 설치된다.For example, if five measurement spaces 50 in which the measurement of the sensor unit 40 is performed are set, five sensors are provided for each measurement space 50.

센서부(40)가 지나가는 제1 내지 제4공간(51,52,53,54)에는 돌출부(64)가 설치되며, 제5공간(55)에는 비측정부(68)가 위치한 경우, 제1 내지 제4센서(41,42,43,44)는 돌출부(64)를 측정한 신호를 제어부(70)로 보내고, 제5센서(45)는 돌출부(64)를 감지하지 못한 신호를 제어부(70)로 보낸다.When the protruding portion 64 is installed in the first to fourth spaces 51, 52, 53, and 54 through which the sensor portion 40 passes, and the non-measuring portion 68 is positioned in the fifth space 55, the first The fourth sensor 41, 42, 43, 44 transmits a signal measuring the protrusion 64 to the controller 70, and the fifth sensor 45 transmits a signal that does not detect the protrusion 64 to the controller 70. Send to).

제어부(70)는, 제1구간에 설정된 측정신호와 센서부(40)에서 측정된 측정신호의 동일 여부를 판단하여, 무인대차(10)가 제1구간을 이동하는 것으로 판단되는 경우 표시부(80)에 이를 표시한다. 또한 제어부(70)는, 필요에 따라 무인대차(10)의 동력부(14)를 제어하여 무인대차(10)의 이동을 제어한다.The controller 70 determines whether the measurement signal set in the first section and the measurement signal measured by the sensor unit 40 are the same, and when it is determined that the driverless vehicle 10 moves the first section, the display unit 80. ). Moreover, the control part 70 controls the movement of the unmanned vehicle 10 by controlling the power part 14 of the unmanned vehicle 10 as needed.

무인대차(10)가 제1구간을 지나서 제2구간으로 이동되는 경우, 제2구간의 지지면(20)에도 제1구간의 감지대상부(60)와는 다른 형상의 감지대상부(60)가 설치되므로, 센서부(40)는 이를 측정하여 제1구간과는 다른 측정값을 제어부(70)로 전달한다.When the unmanned vehicle 10 moves to the second section after passing through the first section, the sensing target section 60 having a shape different from that of the sensing section 60 of the first section is also provided on the support surface 20 of the second section. Since it is installed, the sensor unit 40 measures this and transmits a measurement value different from the first section to the control unit 70.

제어부(70)는, 제2구간에 설정된 측정신호와 센서부(40)에서 측정된 측정신호의 동일 여부를 판단하여, 무인대차(10)가 제2구간을 이동하는 것으로 판단되는 경우 표시부(80)에 이를 표시하며, 필요에 따라 무인대차(10)의 동력부(14)를 제어하여 무인대차(10)의 이동을 제어한다.The controller 70 determines whether the measurement signal set in the second section and the measurement signal measured by the sensor unit 40 are the same, and when it is determined that the driverless vehicle 10 moves the second section, the display unit 80. This is indicated by), and controls the movement of the drone 10 by controlling the power unit 14 of the drone 10 as necessary.

상술한 바와 같은 구성에 의하면, 일 실시예에 따른 무인대차용 위치 측정장치(1)는, 비접촉으로 감지대상부(60)를 측정하는 센서부(40)가 감지대상부(60)와 이격되어 무인대차(10)에 설치되므로, 휠부재(16)의 마모로 무인대차(10)가 기울어진 상태에서도, 센서부(40)와 감지대상부(60)의 접촉이 방지되어 센서부(40)의 파손을 방지할 수 있으며, 이에 따른 유지보수 비용도 절감할 수 있다.According to the configuration as described above, in the unmanned vehicle position measuring apparatus 1 according to an embodiment, the sensor unit 40 for measuring the sensing target unit 60 in a non-contact is spaced apart from the sensing target unit 60 Since it is installed in the unmanned vehicle 10, even if the unmanned vehicle 10 is inclined due to the wear of the wheel member 16, the contact between the sensor unit 40 and the sensing target unit 60 is prevented so that the sensor unit 40 Can be prevented from being damaged and maintenance costs can be reduced accordingly.

또한 무인대차(10)의 이동 구간별로 돌출부(64)의 설치 위치가 상이하므로, 센서부(40)와 연결된 제어부(70)에서 무인대차(10)의 이동 구간을 용이하게 측정하여 무인대차(10)의 관리를 효율적으로 할 수 있다.In addition, since the installation positions of the protrusions 64 are different for each moving section of the unmanned vehicle 10, the control unit 70 connected to the sensor unit 40 easily measures the moving section of the unmanned vehicle 10 and the unmanned vehicle 10 ) Can be managed efficiently.

본 발명은 도면에 도시된 실시예를 참고로 하여 설명되었으나, 이는 예시적인 것에 불과하며, 당해 기술이 속하는 분야에서 통상의 지식을 가진 자라면 이로부터 다양한 변형 및 균등한 타 실시예가 가능하다는 점을 이해할 것이다.Although the present invention has been described with reference to the embodiments shown in the drawings, this is merely exemplary, and those skilled in the art to which the art belongs can make various modifications and other equivalent embodiments therefrom. I will understand.

또한, 제철소에서 사용되는 무인대차용 위치 측정장치를 예로 들어 설명하였으나, 이는 예시적인 것에 불과하며, 제철소가 아닌 다른 공장에서 사용되는 무인대차에도 본 발명에 의한 무인대차용 위치 측정장치가 사용될 수 있다.In addition, the position measuring device for the unmanned vehicle used in the steel mill has been described as an example, but this is merely exemplary, and the position measuring device for the unmanned vehicle according to the present invention can also be used in an unmanned vehicle used in a factory other than the steel mill. .

따라서, 본 발명의 진정한 기술적 보호범위는 특허청구범위에 의해서 정하여져야 할 것이다.
Therefore, the true technical protection scope of the present invention will be defined by the claims.

1: 무인대차용 위치 측정장치
10: 무인대차 12: 몸체부
14: 동력부 16: 휠부재
18: 지지부재 20: 지지면
22: 레일 24: 코일
30: 브라켓부재 32: 지지브라켓
34: 설치공 40: 센서부
41: 제1센서 42: 제2센서
43: 제3센서 44: 제4센서
45: 제5센서 46: 고정부재
50: 측정공간 51: 제1공간
52: 제2공간 53: 제3공간
54: 제4공간 55: 제5공간
60: 감지대상부 62: 베이스부
64: 돌출부 65: 제1돌출부재
66: 제2돌출부재 67: 제3돌출부재
68: 비측정부 70: 제어부
80: 표시부1: Positioning device for unmanned vehicles
10: unmanned vehicle 12: body
14: power unit 16: wheel member
18: support member 20: support surface
22: rail 24: coil
30: bracket member 32: support bracket
34: installation hole 40: sensor unit
41: first sensor 42: second sensor
43: third sensor 44: fourth sensor
45: fifth sensor 46: fixing member
50: measuring space 51: first space
52: second space 53: third space
54: fourth space 55: fifth space
60: sensing target part 62: base part
64: protrusion 65: first protrusion member
66: second protrusion member 67: third protrusion member
68: non-measurement unit 70: control unit
80: display unit

Claims (5)

무인대차의 하측에 고정되는 브라켓부재;
상기 브라켓부재에 복수개의 측정공간마다 설치되며, 비접촉식으로 측정대상물의 유무를 측정하는 센서부; 및
상기 센서부와 이격 설치되며, 복수개의 측정공간마다 상기 센서부에 측정되는 부분과 측정되지 않는 부분이 구분되어 설치되는 감지대상부를 포함하는 것을 특징으로 하는 무인대차용 위치 측정장치.
Bracket member is fixed to the lower side of the unmanned vehicle;
A sensor unit installed in each of the plurality of measurement spaces on the bracket member and measuring the presence or absence of a measurement object in a non-contact manner; And
The sensor unit is spaced apart from the sensor unit, characterized in that it comprises a sensing target unit that is installed in each of the plurality of measuring spaces and the portion to be measured is not measured in the sensor unit.
제 1 항에 있어서, 상기 센서부는,
상기 무인대차의 진행방향과 교차하는 방향으로 열을 이루며 나란히 설치되는 것을 특징으로 하는 무인대차용 위치 측정장치.
The method of claim 1, wherein the sensor unit,
Positioning device for an unmanned vehicle, characterized in that installed side by side in a row in a direction crossing the direction of progress of the unmanned vehicle.
제 2 항에 있어서, 상기 센서부는,
설정된 거리 이내의 물체를 감지하는 광센서인 것을 특징으로 하는 무인대차용 위치 측정장치.
The method of claim 2, wherein the sensor unit,
The position measuring device for the unmanned vehicle, characterized in that the optical sensor for detecting an object within a set distance.
제 1 항 내지 제 3 항 중 어느 한 항에 있어서, 상기 감지대상부는,
지지면에 고정되는 베이스부; 및
상기 베이스부에서 돌출되어 상기 센서부에 측정되는 돌출부를 포함하는 것을 특징으로 하는 무인대차용 위치 측정장치.
According to any one of claims 1 to 3, The sensing target unit,
A base portion fixed to the support surface; And
And a protruding portion protruding from the base portion and being measured by the sensor portion.
제 4 항에 있어서,
상기 센서부의 측정값을 전달받아 상기 무인대차의 이동을 제어하는 제어부를 더 포함하는 것을 특징으로 하는 무인대차용 위치 측정장치.The method of claim 4, wherein
And a control unit which receives the measured value of the sensor unit and controls the movement of the unmanned vehicle.
KR1020100136327A 2010-12-28 2010-12-28 Position measuring device for automatic guided vehicle KR101246225B1 (en)

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Publication number Priority date Publication date Assignee Title
WO2022139253A1 (en) * 2020-12-23 2022-06-30 엘에스일렉트릭 주식회사 Sensing system for stopping train in regular position

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JPH1031514A (en) * 1996-07-16 1998-02-03 Mitsubishi Heavy Ind Ltd Carrying truck travel position detecting device of unmanned carrying truck facility
JP2000207026A (en) 1999-01-08 2000-07-28 Toyota Autom Loom Works Ltd Operation system for unmanned vehicle
JP4148194B2 (en) * 2004-07-22 2008-09-10 村田機械株式会社 Conveyor cart system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022139253A1 (en) * 2020-12-23 2022-06-30 엘에스일렉트릭 주식회사 Sensing system for stopping train in regular position
KR20220090948A (en) * 2020-12-23 2022-06-30 엘에스일렉트릭(주) Sensing system for stopping the train

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