Source: https://patents.google.com/patent/KR101246225B1/en
Timestamp: 2020-04-05 14:41:09
Document Index: 385561556

Matched Legal Cases: ['art 62', 'art 62', 'art 40', 'art 40', 'art 70', 'art 14', 'art 62', 'art\n64']

KR101246225B1 - Position measuring device for automatic guided vehicle - Google Patents
Position measuring device for automatic guided vehicle Download PDF
KR101246225B1
KR101246225B1 KR1020100136327A KR20100136327A KR101246225B1 KR 101246225 B1 KR101246225 B1 KR 101246225B1 KR 1020100136327 A KR1020100136327 A KR 1020100136327A KR 20100136327 A KR20100136327 A KR 20100136327A KR 101246225 B1 KR101246225 B1 KR 101246225B1
KR1020100136327A
KR20120074476A (en
현대제철 주식회사
2010-12-28 Application filed by 현대제철 주식회사 filed Critical 현대제철 주식회사
2010-12-28 Priority to KR1020100136327A priority Critical patent/KR101246225B1/en
2012-07-06 Publication of KR20120074476A publication Critical patent/KR20120074476A/en
2013-03-21 Publication of KR101246225B1 publication Critical patent/KR101246225B1/en
Disclosed is an invention for an unmanned vehicle position measuring device. The disclosed position measuring device for an unmanned vehicle includes: a bracket member fixed to a lower side of an unmanned vehicle, installed in each of a plurality of measuring spaces on the bracket member, and spaced apart from a sensor unit and a sensor unit for measuring the presence or absence of a measurement object in a non-contact manner. It is characterized in that it comprises a sensing target unit that is installed in each of the measurement space and the portion measured and the non-measured to the sensor unit.
Position measuring device for unmanned vehicle {POSITION MEASURING DEVICE FOR AUTOMATIC GUIDED VEHICLE}
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.
In general, a drone is a device that carries a shipment to a set point while moving along an installed rail.
Such drones are automatically moved without the need for human boarding, and the drones used in steel mills mainly carry coils as transportation goods.
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.
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.
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.
In addition, the sensor unit is preferably an optical sensor for detecting an object within a set distance.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
Under the body portion 12 of the unmanned vehicle 10, the bracket member 30 for the installation of the sensor portion 40 is fixed.
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.
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.
In one embodiment of the present invention, the sensing target unit 60 is used as the measuring object measured by the sensor unit 40.
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.
The sensor unit 40 according to an embodiment uses an optical sensor that detects an object within a set distance.
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.
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.
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. .
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.
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).
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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).
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.
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.
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.
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.
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.
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. .
1: 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
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 each other, and includes a sensing target unit in which a portion measured and a non-measured portion are separately installed in a plurality of measurement spaces.
The bracket member may include a support bracket installed in a direction crossing the moving direction of the unmanned vehicle; And
It includes an installation hole for installing the sensor unit along the support bracket,
The sensor unit is formed side by side in the bracket member to form a row in a direction crossing the traveling direction of the unmanned vehicle,
The measurement space is divided into a first space, a second space, a third space, a fourth space, and a fifth space,
The sensor unit installed above the measurement space includes a first sensor, a second sensor, a third sensor, a fourth sensor, and a fifth sensor,
The sensor unit position measuring device for an unmanned vehicle, characterized in that fixed to the installation hole by the fastening of the fixing member.
The position measuring device for the unmanned vehicle, characterized in that the optical sensor for detecting an object within a set distance.
The method of claim 1 or 3, wherein 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.
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)
KR1020100136327A KR101246225B1 (en) 2010-12-28 2010-12-28 Position measuring device for automatic guided vehicle
KR20120074476A KR20120074476A (en) 2012-07-06
KR101246225B1 true KR101246225B1 (en) 2013-03-21
ID=46708588
KR (1) KR101246225B1 (en)
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