Transportation equipment protection system

Abstract

The present invention relates to a transfer device protection system, comprising: a first pulse transmitting / receiving unit (11) that determines whether there is an abnormality in a motor and motor system used in a transfer device, outputs a first pulse signal, and receives a pulse signal corresponding to the first pulse signal; a second pulse transmitting / receiving unit (12) that outputs a second pulse signal separately from the first pulse transmitting / receiving unit (11) and receives a pulse signal corresponding to the second pulse signal; and a judgment unit (20) that determines whether there is an abnormality in the motor system according to whether a pulse signal is received at each of the first pulse transmitting / receiving unit (11) and the second pulse transmitting / receiving unit (12).

Description

Technology Field

[0001] The present invention relates to a transfer device protection system. Background Technology

[0003] Prior art documents 001 to 004 relate to inventions having a technical relationship with the present invention, prior art document 001 relates to an industrial robot having a protective device, prior art document 002 relates to a transfer robot having a driving, lifting and steering structure, prior art document 003 relates to a medical transfer robot, and prior art document 004 relates to a transfer robot for transferring gas containers, a gas supply cabinet, and a gas supply system including the same.

[0004] Prior art documents 001 to 004 are similar to the transfer device protection system according to the present invention in that they all relate to a transfer robot, but they differ from the transfer device protection system according to the present invention in that they do not disclose content regarding redundancy. Prior art literature

[0006] Prior Art 001: KR 10-2012-0099661 A (Publication Date 2012.09.11) Prior Art 002: KR 10-2667856 B1 (Announcement Date 2024.05.29) Prior Art 003: KR ​​10-1102994 B1 (Announcement Date 2012.01.05) Prior Art 004: KR 10-2022-0121678 A (Publication Date 2022.09.01) The problem to be solved

[0007] The present invention relates to a transfer device protection system. means of solving the problem

[0009] The present invention is devised to solve the problems of the prior art as described above, and includes a first pulse transmitting and receiving unit (11) that determines whether there is an abnormality in a motor and motor system used in a transfer device, outputs a first pulse signal, and receives a pulse signal corresponding to the first pulse signal; a second pulse transmitting and receiving unit (12) that outputs a second pulse signal separately from the first pulse transmitting and receiving unit (11) and receives a pulse signal corresponding to the second pulse signal; and a judgment unit (20) that determines whether there is an abnormality in the motor system according to whether a pulse signal is received at each of the first pulse transmitting and receiving unit (11) and the second pulse transmitting and receiving unit (12).

[0010] The present invention is devised to solve the problems of the prior art as described above, and includes an emergency stop input unit (30) that is included in the motor system and transmits a control signal to stop the motor to the judgment unit (20) or the driver controlling the motor when a signal is input.

[0011] The present invention is devised to solve the problems of the prior art as described above. The judgment unit (20) determines that if it does not receive a pulse signal from at least one of the first pulse transmission / reception unit (11) and the second pulse transmission / reception unit (12), it is in an emergency stop state and transmits a control signal to a driver controlling the motor to stop the motor. It also includes a reset input unit (40) which is included in the motor system and transmits a control signal to return the motor to a normal state when it receives a signal during the emergency stop state.

[0012] The present invention is devised to solve the problems of the prior art as described above, and includes a LiDAR unit (100) attached to the transfer device to detect surrounding objects and to generate and transmit a first detection signal when an object is detected within a first distance; a first LiDAR signal receiving unit (210) that receives the first detection signal from the LiDAR unit (100); a second LiDAR signal receiving unit (220) that receives the first detection signal from the LiDAR unit (100) separately from the first LiDAR signal receiving unit (210); and a motor control signal generating unit (300) that transmits a first control signal to a driver controlling the motor when both the first LiDAR signal receiving unit (210) and the second LiDAR signal receiving unit (220) receive the first detection signal.

[0013] The present invention is devised to solve the problems of the prior art as described above. The lidar unit (100) generates a second detection signal and transmits it to the first lidar signal receiving unit (210) and the second lidar signal receiving unit (220) when an object is detected within a second distance closer than the first distance. The motor control signal generating unit (300) transmits a second control signal to a driver controlling the motor when it receives the second detection signal from at least one of the first lidar signal receiving unit (210) and the second lidar signal receiving unit (220).

[0014] The present invention is devised to solve the problems of the prior art as described above, and includes a storage unit (410) in which spatial information of the area where the transfer device (400) moves is stored, and a lidar control unit (420) that stops the operation of the lidar unit (100) after arriving at the entrance of the passage if the transfer device (400) is scheduled to move a passage of a first distance or a second distance or less than the first distance. Effects of the invention

[0016] According to the transfer device protection system of various embodiments of the present invention as described above, the first pulse transmitter / receiver and the second pulse transmitter / receiver periodically transmit and receive pulse signals, and the judgment unit determines a normal state when pulse signals are received from both the first pulse transmitter / receiver and the second pulse transmitter / receiver, and determines an emergency stop state when pulse signals are not received from only one of the first pulse transmitter / receiver and the second pulse transmitter / receiver, thereby controlling the motor to stop, so that a safer transfer device can be implemented.

[0017] In addition, according to the present invention, a detection signal regarding the approach of an object using a lidar unit is received at each of the first lidar signal receiving unit and the second lidar signal receiving unit, and a motor is controlled depending on whether the signal is received, thereby enabling the implementation of a safer transfer device. Brief explanation of the drawing

[0019] FIG. 1 is a block diagram of a transfer device protection system according to the present invention. FIG. 2 is a block diagram of an embodiment in which a transfer device protection system according to the present invention includes a reset input unit. FIG. 3 is a block diagram of an embodiment of a transfer device protection system according to the present invention, comprising a lidar unit, a first lidar signal receiving unit, a second lidar signal receiving unit, and a motor control signal generating unit. FIG. 4 is a block diagram of an embodiment of a transfer device protection system according to the present invention, comprising a lidar unit, a first lidar signal receiving unit, a second lidar signal receiving unit, a motor control signal generating unit, a lidar control unit, and a storage unit. FIG. 5 is a schematic diagram of the first distance and the second distance set in the lidar section of the transfer device protection system according to the present invention. Specific details for implementing the invention

[0020] The transfer device protection system according to the present invention will be described in detail below with reference to the attached drawings.

[0022] [Example 1-1] The present invention relates to a transfer device protection system, comprising: a first pulse transmitting / receiving unit (11) that determines whether there is an abnormality in a motor and motor system used in a transfer device, outputs a first pulse signal, and receives a pulse signal corresponding to the first pulse signal; a second pulse transmitting / receiving unit (12) that outputs a second pulse signal separately from the first pulse transmitting / receiving unit (11) and receives a pulse signal corresponding to the second pulse signal; and a judgment unit (20) that determines whether there is an abnormality in the motor system according to whether a pulse signal is received at each of the first pulse transmitting / receiving unit (11) and the second pulse transmitting / receiving unit (12).

[0023] [Example 1-2] The present invention relates to a transfer device protection system. In Example 1-1, the judgment unit (20) determines that the motor system is normal when it receives a pulse signal from each of the first pulse transmission / reception unit (11) and the second pulse transmission / reception unit (12).

[0024] [Example 1-3] The present invention relates to a transfer device protection system. In Example 1-1, the judgment unit (20) transmits a control signal to a driver controlling the motor to stop the motor if it does not receive a pulse signal from at least one of the first pulse transmission / reception unit (11) and the second pulse transmission / reception unit (12).

[0025] [Examples 1-4] The present invention relates to a transfer device protection system, wherein in Example 1-1, the first pulse transmitting and receiving unit (11) periodically transmits the first pulse signal.

[0026] [Examples 1-5] The present invention relates to a transfer device protection system, wherein in Example 1-1, the second pulse transmitting / receiving unit (12) periodically transmits the second pulse signal.

[0027] The present invention relates to a transfer device protection system, and more specifically, to a transfer device protection system that can more accurately determine the normal state of a system to which the transfer device protection system according to the present invention is applied, such as a device operating using a motor, through redundancy. Here, the motor may be applied to a transfer device that transports goods or people, and among the applied devices, a system including a device associated with the motor and the motor is referred to as a motor system.

[0028] To solve the technical problem described above, the transfer device protection system according to the present invention includes a first pulse transmitting and receiving unit (11), a second pulse transmitting and receiving unit (12), and a judgment unit (20).

[0029] The first pulse transceiver (11) outputs a first pulse signal and receives a pulse signal corresponding to the first pulse signal. The first pulse transceiver (11) may be implemented as an electronic device programmed for the operation described above, for example, a Micro Controller Unit (MCU). The first pulse transceiver (11) may be located on a closed circuit in which the output terminal and the input terminal are connected to each other. Here, the closed circuit may be a closed circuit included in the motor system described earlier.

[0030] The first pulse transmitting and receiving unit (11) can periodically perform output and reception of the first pulse signal.

[0031] The second pulse transceiver (12) outputs a second pulse signal and receives a pulse signal corresponding to the second pulse signal. The second pulse transceiver (12) may be implemented as an electronic device programmed for the operation described above, for example, a Micro Controller Unit (MCU). The second pulse transceiver (12) may be located on a closed circuit where the output terminal and the input terminal are connected to each other. Here, the closed circuit may be a closed circuit included in the motor system described earlier.

[0032] The second pulse transmitting and receiving unit (12) can periodically perform output and reception of the second pulse signal.

[0033] The first pulse transmitting and receiving unit (11) and the second pulse transmitting and receiving unit (12) described above can each transmit the first pulse signal and the second pulse signal individually on separate closed circuits and receive a pulse signal corresponding to each pulse signal.

[0034] The judgment unit (20) determines whether there is an abnormality in the motor system based on whether a pulse signal is received at each of the first pulse transmission / reception unit (11) and the second pulse transmission / reception unit (12). To this end, the judgment unit (20) and the first pulse transmission / reception unit (11) are interconnected via wired or wireless connection, and can receive from the first pulse transmission / reception unit (11) whether a first pulse signal output from the first pulse transmission / reception unit (11), or whether a pulse signal corresponding to the first pulse signal is received. Here, among the methods of interconnecting the judgment unit (20) and the first pulse transmission / reception unit (11), a short-range wireless communication method may be useful in the case of wireless connection; however, the present invention is not limited to the method of interconnecting the judgment unit (20) and the first pulse transmission / reception unit (11) as a short-range wireless communication method, and signals can be transmitted and received via interconnection methods such as wireless internet or mobile communication networks. In addition to this, there may also be embodiments in which the judgment unit (20) and the first pulse transmission / reception unit (11) are configured individually or are integrated.

[0035] In addition, the judgment unit (20) and the second pulse transmission / reception unit (12) are interconnected via wired or wireless connection, and can receive from the first pulse transmission / reception unit (11) whether the second pulse signal output from the second pulse transmission / reception unit (12) is output, whether a pulse signal corresponding to the second pulse signal is received, etc. Here, among the methods of interconnecting the judgment unit (20) and the second pulse transmission / reception unit (12), a short-range wireless communication method may be useful in the case of wireless connection, but the present invention is not limited to the method of interconnecting the judgment unit (20) and the second pulse transmission / reception unit (12) as a short-range wireless communication method, and signals can be transmitted and received by interconnecting via methods such as wireless internet or mobile communication networks. Furthermore, in addition to this, there may also be embodiments in which the judgment unit (20) and the second pulse transmission / reception unit (12) are configured individually or are integrated.

[0036] If the judgment unit (20) does not receive any of the pulse signals corresponding to the pulse signals transmitted by the first pulse transmission / reception unit (11) and the second pulse transmission / reception unit (12) for a preset period of time, it determines that the state is abnormal and transmits a signal to the motor to stop the motor directly. However, if the judgment unit (20) receives all the pulse signals corresponding to the pulse signals transmitted by the first pulse transmission / reception unit (11) and the second pulse transmission / reception unit (12), it determines that the state is normal and continues to monitor the first pulse transmission / reception unit (11) and the second pulse transmission / reception unit (12).

[0037] When the judgment unit (20) determines that the motor is in an abnormal state, the signal applied to the driver controlling the motor may be a Safe Torque Off (STO) signal. The STO signal is one of the safety functions used in a motor control system, and it is a function that prevents safety accidents by cutting off the rotational force of the motor in the event of an emergency. When the STO signal is applied to the motor driver, the power supplied to the motor is cut off to stop the torque generated by the motor. The STO signal has the advantages of fast response, high reliability, and applicability to various industrial fields.

[0039] [Example 2-1] The present invention relates to a transfer device protection system, and in Example 1-1, includes an emergency stop input unit (30) which is included in the motor system and transmits a control signal to stop the motor to the judgment unit (20) or the driver controlling the motor when a signal is input.

[0040] [Example 2-2] The present invention relates to a transfer device protection system, and in Example 2-1, the emergency stop input unit (30) is implemented in the form of a button.

[0041] The emergency situation described above may occur as a result of a part of the circuit within the motor system being short-circuited or broken, but may be manually entered based on the judgment of the operator, and the present invention may include an emergency stop input unit (30) for the operator to manually indicate an emergency state.

[0042] When a signal is input by an operator, the emergency stop input unit (30) transmits a control signal to at least one of the judgment unit (20), motor, and motor drive to stop the motor. The entity among the judgment unit (20), motor, and motor driver that receives the above-described control signal can operate to apply an STO signal to the motor and stop the motor.

[0043] The above-described emergency stop input unit (30) can be implemented in the form of a button. However, the present invention is not limited to the form of a button for the emergency stop input unit (30), and it is also possible to implement it using various input means such as a touchscreen, mouse, and keyboard.

[0045] [Example 3-1] The present invention relates to a transfer device protection system. In Example 2-1, the judgment unit (20) determines that if at least one of the first pulse transmission / reception unit (11) and the second pulse transmission / reception unit (12) does not receive a pulse signal, it determines that the motor is in an emergency stop state and transmits a control signal to a driver controlling the motor to stop the motor. It also includes a reset input unit (40) which is included in the motor system and transmits a control signal to return the motor to a normal state when a signal is received during the emergency stop state.

[0046] [Example 3-2] The present invention relates to a transfer device protection system, wherein in Example 3-1, the reset input unit (40) is implemented in the form of a button.

[0047] [Example 3-3] The present invention relates to a transfer device protection system, wherein in Example 3-1, the reset input unit (40) is activated when in the emergency stop state. [Example 3-4] The present invention relates to a transfer device protection system, wherein in Example 3-1, the reset input unit (40) is deactivated in a normal state other than the emergency stop state.

[0048] If the situation in which an STO signal is applied to the motor by recognizing an abnormal state in the judgment unit (20) described above is called an emergency stop state, a separate means to release the emergency stop state is required, and the present invention may include a reset input unit (40) for releasing such an emergency stop state.

[0049] When the reset input unit (40) receives a signal while in an emergency stop state, it transmits a control signal to at least one of the motor driver and the judgment unit (20) to restore the motor to a normal state. When the reset input unit (40) is not in an emergency stop state, i.e., in a normal state, it does not transmit a control signal to the motor driver and the judgment unit (20) to restore the motor to a normal state even if it receives a signal. That is, the reset input unit (40) is activated when in an emergency stop state and is deactivated when in a normal state that is not an emergency stop state.

[0050] The reset input unit (40) may be implemented in the form of a button or may include other input devices, such as a keyboard, mouse, or touchscreen, to receive a signal from an operator. In particular, when the reset input unit (40) is implemented in the form of a button, the reset input unit (40) may include a type of LED. The LED included in the reset input unit (40) indicates whether the reset input unit (40) is currently active or inactive; when active (when in an emergency stop state), the LED may light up, and when inactive (when in a normal state), the LED may turn off.

[0052] [Example 4-1] The present invention relates to a transport device protection system, wherein Example 1-1 comprises: a LiDAR unit (100) attached to the transport device to detect surrounding objects and to generate and transmit a first detection signal when an object is detected within a first distance; a first LiDAR signal receiving unit (210) that receives the first detection signal from the LiDAR unit (100); a second LiDAR signal receiving unit (220) that receives the first detection signal from the LiDAR unit (100) separately from the first LiDAR signal receiving unit (210); and a motor control signal generating unit (300) that transmits a first control signal to a driver controlling the motor when both the first LiDAR signal receiving unit (210) and the second LiDAR signal receiving unit (220) receive the first detection signal.

[0053] [Example 4-2] The present invention relates to a transfer device protection system, wherein in Example 4-1, the first control signal is a signal indicating deceleration of the motor.

[0054] [Example 4-3] The present invention relates to a transfer device protection system. In Example 4-1, the motor control signal generator (300) applies a control signal to a driver controlling the motor and stops the motor when only one of the first lidar signal receiver (210) and the second lidar signal receiver (220) receives the first detection signal.

[0055] [Example 4-4] The present invention relates to a transport device protection system. In Example 4-1, the lidar unit (100) stops generating and transmitting the first detection signal when an object is detected outside the first distance.

[0056] [Examples 4-5] The present invention relates to a transfer device protection system. In Example 4-4, the motor control signal generator (300) transmits a signal to a driver controlling the motor to change the motor to a normal state if the first detection signal is not received from both the first lidar signal receiver (210) and the second lidar signal receiver (220).

[0057] [Example 4-6] The present invention relates to a transport device protection system. In Example 4-1, the lidar unit (100) generates and transmits an object escape signal to the first lidar signal receiving unit (210) and the second lidar signal receiving unit (220), respectively, when an object is detected outside the first distance.

[0058] [Example 4-7] The present invention relates to a transfer device protection system. In Example 4-4, the motor control signal generator (300) receives the object departure signal from both the first lidar signal receiver (210) and the second lidar signal receiver (220), and transmits a signal to the driver controlling the motor to change the motor to a normal state.

[0059] [Example 4-8] The present invention relates to a transfer device protection system, wherein in Example 4-1, the first pulse transmitting and receiving unit (11) is integrated with the first lidar signal receiving unit (210).

[0060] [Example 4-9] The present invention relates to a transfer device protection system, wherein in Example 4-1, the second pulse transceiver (12) is integrated with the second lidar signal receiver (220).

[0061] The emergency stop state using the first pulse transceiver (11) and the second pulse transceiver (12) described above was primarily an operation that occurs when a user inputs a specific signal through the emergency stop input unit (30) (or presses a button), or when an error such as a short circuit or an open circuit occurs within the circuit constituting the motor system. In the present invention (Examples 4-1 to 4-2), in a transfer device to which the transfer device protection system according to the present invention is applied, the LiDAR unit (100) detects an object within a preset distance and controls the motor according to the position of the detected object to prevent damage to the transfer device, damage to the object, or injury.

[0062] First, the lidar unit (100) is installed on the transport device (400) to detect surrounding objects. The lidar unit (100) may include at least one lidar and may be installed in a location where the signal irradiated by the transport device is not obstructed, for example, at the very top of the transport device (400). When the lidar unit (100) detects an object within a first distance relative to the installed location, it transmits a first detection signal to the first lidar signal receiving unit (210) and the second lidar signal receiving unit (220), respectively, which will be described later. Here, the first distance is a distance greater than the second distance described later. For example, the first distance may be 20m. The lidar unit (100) is installed on the transfer device (400) and can detect all 360 degrees around the transfer device (400). However, since the likelihood of collision with an object approaching from the rear is low due to the characteristics of the transfer device (400) and the direction of movement of the transfer device (400), the lidar unit (100) can detect an object in a space with a predetermined angle to the left and right relative to the front of the transfer device (400), for example, 135 degrees to the left and 135 degrees to the right relative to the front, totaling 270 degrees.

[0063] The first detection signal generated and transmitted by the lidar unit (100) can be continuously generated and transmitted when an object is within a first distance.

[0064] The first lidar signal receiver (210) and the second lidar signal receiver (220) each individually receive a first detection signal from the lidar unit (100). The first lidar signal receiver (210) and the second lidar signal receiver (220) can each be implemented in the form of a programmed electronic device, and the first lidar signal receiver (210) and the second lidar signal receiver (220) can be implemented as a microcontroller unit.

[0065] When the motor control signal generator (300) receives a first detection signal from both the first lidar signal receiver (210) and the second lidar signal receiver (220), it can transmit a first control signal to a motor driver that controls the motor. At this time, the first control signal may include motor deceleration information. This is to ensure safety by slowing down the speed of the conveying device since an object has approached within a first distance, which is a relatively long distance, while also performing the original purpose of conveying the item. The above-described first control signal may be an OSSD (Output Signal Switching Device) signal.

[0066] Additionally, when the motor control signal generator (300) receives the first detection signal from only one of the first lidar signal receiver (210) and the second lidar signal receiver (220), it determines that a problem has occurred in the system driving the transfer device and transmits an STO signal to the motor driver to enter an emergency stop state.

[0067] However, an object detected by the lidar unit (100) may approach within a first distance and then move out of the first distance again. In this case, the lidar unit (100) stops generating and transmitting the first detection signal, and the motor control signal generation unit (300) transmits a signal to the driver controlling the motor to change the motor to a normal state if the first detection signal is not received by both the first lidar signal receiving unit (210) and the second lidar signal receiving unit (220). Here, a normal state may mean that the speed of the transfer device reaches the speed in a normal state.

[0068] In some cases, if an object detected by the lidar unit (100) moves out of the first distance, the lidar unit (100) may generate an object departure signal and transmit it to the first lidar signal receiver (210) and the second lidar signal receiver (220). The object departure signal may be continuously generated and transmitted when the object is not within the first distance and the second distance. There may also be an embodiment in which the motor control signal generator (300), upon receiving the object departure signal from both the first lidar signal receiver (210) and the second lidar signal receiver (220), transmits a signal to the driver controlling the motor to change the motor to a normal state.

[0069] Since the first lidar signal receiving unit (210) described above simply serves to receive signals generated by the lidar unit (100), there may be an embodiment in which it is integrated with the first pulse transmitting and receiving unit (11). Similarly, there may also be an embodiment in which the second lidar signal receiving unit (220) is integrated with the second pulse transmitting and receiving unit (12).

[0071] [Example 5-1] The present invention relates to a transfer device protection system. In Example 4-1, the lidar unit (100) generates a second detection signal when an object is detected within a second distance closer than the first distance and transmits it to the first lidar signal receiving unit (210) and the second lidar signal receiving unit (220). The motor control signal generating unit (300) transmits a second control signal to a driver controlling the motor when it receives the second detection signal from at least one of the first lidar signal receiving unit (210) and the second lidar signal receiving unit (220).

[0072] [Example 5-2] The present invention relates to a transfer device protection system, wherein in Example 5-1, the second control signal is a signal indicating the stop of the motor.

[0073] [Example 5-3] The present invention relates to a transfer device protection system. In Example 5-1, the lidar unit (100) transmits an object departure signal to the first lidar signal receiver (210) and the second lidar signal receiver (220) when the detected object moves out of the first distance, and the motor control signal generator (300) stops outputting the first control signal to the driver controlling the motor when both the first lidar signal receiver (210) and the second lidar signal receiver (220) receive the object departure signal.

[0074] [Example 5-4] The present invention relates to a transfer device protection system. In Example 5-3, the motor control signal generator (300) stops outputting the second control signal to the driver controlling the motor and transmits a normalization signal to normalize the motor when both the first lidar signal receiver (210) and the second lidar signal receiver (220) receive the object departure signal and a preset time has elapsed.

[0075] An object that has approached within a first distance relative to the location where the previously described lidar unit (100) is installed may approach within a second distance that is closer than the first distance. In this case, the distance between the transfer device and the object becomes very close, increasing the possibility of a collision, so it is necessary to immediately stop the movement of the transfer device.

[0076] For the operation described above, when an object approaches within a second distance, the lidar unit (100) transmits a second detection signal to the first lidar signal receiver (210) and the second lidar signal receiver (220). When the motor control signal generator (300) receives the second detection signal from either the first lidar signal receiver (210) or the second lidar signal receiver (220), it transmits a second control signal to the motor driver. The second control signal is a signal that cuts off the power supplied to the motor to stop the motor, and may be the same as the STO signal described earlier. The second detection signal may be an OSSD (Output Signal Switching Device) signal.

[0078] The lidar unit (100) can continuously generate and transmit a second detection signal under the condition that there is an object within a second distance. Additionally, since the condition is that the object is located within the second distance but also within the first distance, the lidar unit (100) can generate and transmit not only the second detection signal but also the first detection signal.

[0079] An object that had approached within the second distance may also be moved to move out of the first distance. In this case, the LiDAR unit (100) generates and transmits an object departure signal to the first LiDAR signal receiver (210) and the second LiDAR signal receiver (220), respectively, and the motor control signal generator (300) may stop outputting the first control signal to the motor driver when both the first LiDAR signal receiver (210) and the second LiDAR signal receiver (220) receive the object departure signal. However, in this case, the motor control signal generator (300) may continue to output the second control signal to the motor driver. This is because, while the first control signal is a signal instructing the motor to decelerate, the second control signal is a signal instructing the motor to stop, and maintaining the motor in a stopped state for a longer period of time is relatively safer.

[0080] The motor control signal generator (300) can stop outputting the second control signal to the motor driver and transmit a normalization signal to normalize the motor when both the first lidar signal receiver (210) and the second lidar signal receiver (220) receive an object departure signal and a preset time has elapsed.

[0082] [Example 6-1] The present invention relates to a transport device protection system, and in Example 4-1, includes a storage unit (410) in which spatial information of the area where the transport device (400) moves is stored, and a lidar control unit (420) that stops the operation of the lidar unit (100) after arriving at the entrance of the passage if the transport device (400) is scheduled to move a first distance or a second distance or less than the first distance.

[0083] [Example 6-2] The present invention relates to a transfer device protection system, wherein in Example 6-1, the lidar control unit (420) resumes the operation of the lidar unit (100) when it passes through the passage.

[0084] As previously explained, the transport device to which the transport device protection system according to the present invention is applied operates to transport goods while moving within a specific area. However, in such an area, there may be a part that must pass through a relatively narrow passage, for example, within the gap between the second distances described above. In this case, since the transport device may be stopped by the lidar unit (100) described above, it is necessary to detect the location of surrounding objects in the lidar unit (100) as needed, while stopping the generation and transmission of at least one of the first detection signal and the second detection signal.

[0085] The stopping of all or part of the operation of the LiDAR unit (100) may vary depending on the position of the transfer device (400). Accordingly, the transfer device protection system according to the present invention may further include a storage unit (410) in which spatial information of the area where the transfer device (400) moves is stored.

[0086] The storage unit (410) may be a type of memory, and spatial information of the transfer device (400) may be stored in a digital form. Here, spatial information may be two-dimensional or three-dimensional spatial information.

[0087] Additionally, the transfer device protection system according to the present invention may further include a LiDAR control unit (420). If the transfer device (400) is scheduled to pass through a passage of a first distance or a second distance or less, the system may include a LiDAR control unit (420) that stops the operation of the LiDAR unit (100) after arriving at the entrance of the said passage. To enable the operation of the LiDAR control unit (420) as described above, the transfer device protection system according to the present invention may further include a position identification unit capable of determining the position of the transfer device (400). The position identification unit can determine the current position of the transfer device (400) using GPS, various communication equipment installed within the area where the transfer device (400) moves, sensors, etc. Furthermore, the position identification unit can determine the current position of the transfer device (400) using LiDAR in addition to the various devices described above.

[0088] The lidar control unit (420) can resume the operation of the lidar unit (100) when the transfer device (400) passes through the passage, thereby preventing a collision between the approaching object and the transfer device.

[0090] The present invention is not limited to the embodiments described above and has a diverse scope of application. Furthermore, it is understood that anyone with ordinary knowledge in the field to which the present invention pertains can make various modifications without departing from the essence of the invention as claimed in the claims. Explanation of the symbols

[0092] 11: 1st pulse transceiver 12: 2nd pulse transceiver 20: Judgment unit 30: Emergency stop input unit 40: Reset input section 100: LiDAR section 210: 1st LiDAR signal receiver 220: 2nd LiDAR signal receiver 300: Motor control signal generator 400: Transfer device 410: Storage unit 420: LiDAR control unit

Claims

Claim 1 The apparatus includes: a first pulse transmitting / receiving unit (11) that determines whether there is an abnormality in the motor and motor system used in the transfer device, outputs a first pulse signal, and receives a pulse signal corresponding to the first pulse signal; a second pulse transmitting / receiving unit (12) that outputs a second pulse signal separately from the first pulse transmitting / receiving unit (11) and receives a pulse signal corresponding to the second pulse signal; a judgment unit (20) that determines whether there is an abnormality in the motor system according to whether a pulse signal is received at each of the first pulse transmitting / receiving unit (11) and the second pulse transmitting / receiving unit (12); and an emergency stop input unit (30) included in the motor system that, when a signal is input, transmits a control signal to stop the motor to the judgment unit (20) or a driver controlling the motor. The judgment unit (20) is in an emergency stop state if it fails to receive a pulse signal from at least one of the first pulse transmitting / receiving unit (11) and the second pulse transmitting / receiving unit (12). A transfer device protection system comprising: a reset input unit (40) that determines and transmits a control signal to a driver controlling the motor to stop the motor, and, when a signal is received during the emergency stop state, transmits a control signal to return the motor to a normal state. Claim 2 delete Claim 3 delete Claim 4 A transfer device protection system comprising: a LiDAR unit (100) attached to the transfer device to detect surrounding objects and to generate and transmit a first detection signal when an object is detected within a first distance; a first LiDAR signal receiving unit (210) that receives the first detection signal from the LiDAR unit (100); a second LiDAR signal receiving unit (220) that receives the first detection signal from the LiDAR unit (100) separately from the first LiDAR signal receiving unit (210); and a motor control signal generating unit (300) that transmits a first control signal to a driver controlling the motor when both the first LiDAR signal receiving unit (210) and the second LiDAR signal receiving unit (220) receive the first detection signal. Claim 5 In claim 4, the above-mentioned lidar unit (100) generates a second detection signal and transmits it to the first lidar signal receiving unit (210) and the second lidar signal receiving unit (220) when an object is detected within a second distance closer than the first distance, and the above-mentioned motor control signal generating unit (300) transmits a second control signal to a driver controlling the motor when at least one of the first lidar signal receiving unit (210) and the second lidar signal receiving unit (220) receives the second detection signal. Claim 6 A transfer device protection system comprising: a storage unit (410) in which spatial information of the area where the transfer device (400) moves is stored; and a lidar control unit (420) that stops the operation of the lidar unit (100) after arriving at the entrance of the passage if the transfer device (400) is scheduled to move along a passage of a first distance or a second distance or less than the first distance.

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