Crown block position-based intersection passage control system using power line communication

Abstract

The present invention relates to an intersection passage control system based on a crown block position using power line communication, the intersection passage control system comprising: a crown block controller mounted on a crown block moving along a line; the central controller is arranged in the intersection interval of the lines and controls the intersection passing of the multiple crown blocks, power lines are arranged in the interval from the place where the crown blocks enter to the terminal of the intersection interval on the lines, and the central controller and the crown block controller transmit and receive data used for intersection passing control mutually through power line communication. According to the present invention, an existing power line communication system can only perform data processing on a fixed device, but in the present invention, high-speed data processing can be performed on both a fixed device and a mobile device at any place in an interval in which a power line is laid.

Description

Technical Field

[0001] The present invention relates to a technology for controlling the passage through an intersection section in a ceiling transport system, and more specifically, to a technology that can perform high-speed data processing anywhere in the section where power lines are laid, whether it is a fixed device or a mobile device, so that the overhead crane can be smoothly controlled to pass through the intersection section without the need for additional communication facilities. Background Art

[0002] The Overhead Hoist Transport System is a mobile body installed in large hospitals and semiconductor, LCD, OLED, solar panel production plants with many objects to be transferred to transport objects. It includes an OHT (Overhead Hoist Transfer) and a track to guide the OHT. The transport crane, namely the OHT, travels along the track set on the ceiling. The OHT is integrated and controlled by the OCS (OHT Control System) that issues the transport command. When the overhead transport system is set on an LCD or OLED, especially a semiconductor production line, the track is configured using the ceiling space in the clean room, and the OHT driven on the track transports the LCD or OLED, semiconductor substrates and other transport objects between the transport ports of the processing device or the inspection device. The travel track is supported by the ceiling of the clean room by pillars, etc., and is composed of a travel track body and a power supply track. The OHT is provided with a travel drive unit, which can travel in the travel track body, receive signals from the power supply track through the power receiving unit and communicate with the OCS. In the ceiling transport system, multiple OHTs travel on the track to transport objects. The track has: a branch section that ensures that the OHT can move to other tracks while traveling in a straight line, and a junction section that allows the OHT moving from the branch section to enter other tracks. The OHT travels on tracks that branch and connect at multiple locations to transport objects to the desired location.

[0003] In such a ceiling transport system, an anti-collision system is sometimes provided to prevent the overhead cranes from colliding with each other at branch points or intersections of the track. As a prior art, the overhead cranes communicate with each other through guide wires arranged near branch points and intersections, thereby recognizing each other and preventing collisions.

[0004] As an example, Korean Patent Publication No. 2013-0120530 discloses a rail-mounted overhead traveling vehicle system, comprising: a transmitting unit capable of respectively transmitting a plurality of signals having different frequencies; a transmitting unit capable of respectively transmitting the plurality of signals transmitted from the transmitting unit to a guide wire; a receiving unit capable of respectively receiving a plurality of signals transmitted through the guide wire; a determining unit capable of determining whether to slow down, stop, or continue the travel of the overhead traveling vehicle according to the type of the received signal; and a control unit capable of controlling the travel of the overhead traveling vehicle according to the determination result of the determining unit.

[0005] The prior art needs to determine whether to slow down, stop, or travel based on the type of frequency received through the guide line, and then remember which frequency signal is slowing down, stopping, or traveling based on the type of frequency received at each intersection or branching position. Therefore, when it is necessary to detect an abnormal situation and execute it, a collision may occur due to errors in the complex structure of the communication circuit (increasing the number of frequency types) and the memory management (the crane action defined according to the frequency type at each position).

[0006] In addition, when the cranes enter the intersection at the same time, all the cranes receive a stop signal, and thus may be unable to move mutually.

[0007] In addition, there are problems that cannot be addressed due to the limitation of available frequencies in intersection sections containing more than three multiple lines.

[0008] [Prior technical literature]

[0009] [Patent Literature]

[0010] 1. Korean Publication Patent No. 2013-0120530 (Overhead Tram System)

[0011] 2. Korean registered patent No. 10-1890847 (signal light control device and method for Oht vehicles)

[0012] 3. Japanese registered patent No. 5440701 (overhead car system and branch control method in overhead car system)

[0013] 4. Japanese registered patent No. 4241306 (anti-collision control system)

[0014] 5. Korean registered patent No. 2459085 (Intersection section control device for a transport system, a driving method of the device, and a transport system). Summary of the invention

[0015] Technical problems to be solved

[0016] The present invention is developed to solve the above-mentioned problem. The purpose of the present invention is to enable high-speed data processing anywhere in the section where power lines are laid, regardless of whether it is a fixed device or a mobile device, so that the overhead crane can be smoothly controlled to pass through the intersection section without the need for additional communication facilities.

[0017] Solutions to technical problems

[0018] In order to achieve the above-mentioned object, according to one aspect of the present invention, there is provided a junction control system based on location of an overhead crane using power line communication (Junction Control System Based on Location of OHTUsing Power Line Communication), characterized in that the junction control system comprises: an overhead crane controller, which is carried on an overhead crane moving along a line; a central controller, which is arranged in a junction section of the line and controls the junction of multiple overhead cranes, and a power line is arranged in a section of the line from a point where the overhead crane enters to a terminal of the junction section, and the central controller and the overhead crane controller send and receive data for controlling the junction through power line communication.

[0019] Here, the central controller determines the starting point and the ending point of the danger zone on each line in the intersection section, and uses this as a reference to control the overhead crane to pass through the intersection section. The overhead crane controller transmits the overhead crane information showing the driving or stopping status, the driving information including at least one of the moving amount and the moving speed, and the overhead crane identification information to the central controller through the power line communication. The central controller transmits data related to the starting point of the danger zone, whether entry is allowed, the response overhead crane selection information, and the number of overhead crane controllers in the communication to the overhead crane controller through the power line communication.

[0020] In addition, it also includes: a terminal device, which includes a transmission line matching part arranged at the terminal of the power line and used to ensure smooth communication between the central controller and the overhead crane controller, and is combined with the power line through a contact-type coupling device to perform power line communication with the central controller.

[0021] In addition, more preferably, the central controller is coupled to the power line via a contact coupling device, and the overhead crane controller is coupled to the power line via a non-contact coupling device, thereby performing power line communication with the central controller.

[0022] In addition, a merging section status display device for displaying the status of the merging section is provided at the initial entry portion of the merging section of the line, and a camera is provided on the overhead crane, and the overhead crane controller can also obtain the accessible status information of the merging section through the image captured by the camera.

[0023] In addition, the overhead crane includes a sensor for detecting position movement information. The overhead crane controller transmits the position movement information detected by the sensor to the central controller. The sensor can be any one of an optical flow sensor, an IMU sensor, and a camera that senses surface changes of the line to identify position changes.

[0024] In addition, preferably, a position information updating device for detecting the position movement information of the overhead crane is provided on the line in the intersection section, and the overhead crane controller can also receive the position movement information of the overhead crane from the position information updating device through wireless power communication, and the wireless power communication frequency is different from the communication frequency between the central controller and the overhead crane controller.

[0025] In addition, the power line is configured as a two-wire transmission line so that the distance between the two conductor lines is periodically variable, and the overhead traveling crane controller can also calculate the movement position of the overhead traveling crane based on the reception strength of the signal received through the power line.

[0026] Effects of the Invention

[0027] According to the present invention, the existing power line communication system can only process data for fixed devices. However, the present invention has the advantage of being able to perform high-speed data processing anywhere in the section where the power line is laid, regardless of whether it is a fixed device or a mobile device.

[0028] In addition, as an existing short-range wireless communication that can communicate with a mobile body, there is an RFID system in which a reader receives information from a tag and processes it. However, the RFID system has a low capacity of data that can be stored in the tag and a low communication speed of about tens of Kbps, so it is difficult to transmit and process large-capacity data at high speed. However, the present invention has the advantage of being able to perform high-speed communication and can process large-capacity data that power line communication has.

[0029] In addition, there is an advantage that power can be supplied and high-speed communication can be performed without laying additional power supply and communication cables for the terminal / extension device of the system, so the device can be easily expanded. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The diagram is a schematic diagram showing a circuit provided with an interface medium for communication according to an embodiment of the present invention.

[0031] Figure 2 It is a schematic diagram showing a circuit provided with an interface medium for communication according to another embodiment of the present invention.

[0032] Figure 3FIG. 1 is a diagram showing a power line communication configuration according to the present invention.

[0033] Figure 4 This is a system configuration diagram illustrating how contactless power communication is achieved in an overhead traveling vehicle.

[0034] Figure 5 This is a schematic diagram for explaining a method of identifying the position of a moving object based on the wiring pattern of a transmission line.

[0035] Figure 6 It is a schematic diagram of the composition of the control system according to the intersection of the method of obtaining the position movement information of the overhead crane by the sensors installed on the overhead crane.

[0036] Figure 7 It is a schematic diagram of the structure of the control system through the intersection of the position information updating device set on the line.

[0037] Description of Reference Numerals

[0038] 10: Power supply device 20: Overhead crane controller

[0039] 30: Central controller 40: Terminal / extension device

[0040] 21, 31, 41: Power supply 22, 32, 42: Power line communication means

[0041] 23: Camera 24: Loop antenna

[0042] 25, 35, 45: Coupler 26: Sensor

[0043] 27: Power line communication means 51, 52: Position information updating device

[0044] 60: Intersection section status display device. DETAILED DESCRIPTION

[0045] The embodiments described in the present invention and the structures shown in the accompanying drawings are only preferred embodiments of the present invention, and do not embody the entire technical concept of the present invention. Therefore, the scope of rights of the present invention should not be interpreted as being limited by the embodiments and drawings described herein. That is, the embodiments can be subjected to various changes and can have various forms, so the scope of rights of the present invention should be understood as including equivalents that can realize the technical concept. In addition, the purpose or effect proposed in the present invention does not mean that a specific embodiment includes all of them or only includes such effects, so the scope of rights of the present invention is not limited to this.

[0046] Unless otherwise defined, all terms used in this specification have the same meaning as those generally understood by persons with general knowledge in the field to which the present invention belongs. Terms defined in commonly used dictionaries should be interpreted as consistent with their meanings in the context of the relevant technology and should not be interpreted as idealized or overly formalized meanings that are not clearly defined in the present invention.

[0047] Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

[0048] Figure 1 The figure is a schematic diagram showing a state in which an interface medium for communication is provided on a line according to an embodiment of the present invention.

[0049] In the following embodiments, an intersection section where two lines merge into one line is shown as an example, but the present invention is not limited to this and can also be applied to an intersection section composed of more lines.

[0050] like Figure 1 As shown, in the present invention, interface media C1 and C2 are provided on the lines L1 and L2 for the overhead traveling crane OHT to ensure communication between the central controller 30 and the overhead traveling crane controller 20 described later.

[0051] In order to prevent unnecessary speed reduction or travel stop caused by the merging sequence of the overhead crane OHT, interface media C1 and C2 are provided on the lines L1 and L2 where the overhead crane OHT moves, from the initial entry of the overhead crane OHT to the end of the merging section.

[0052] In the present invention, the interface media C1 and C2 use power lines in the form of transmission lines, and the input specification of the power supply and whether to input it depends on the additional option function configuration.

[0053] In the case of input power, it may be necessary to provide another sensor (position information updating device, reference) provided on the intersection section line in the method of obtaining the position movement information of the overhead travelling crane OHT. Figure 7 Description) Apply power to this case configuration.

[0054] Figure 2 It is a schematic diagram of a circuit provided with an interface medium for communication according to another embodiment of the present invention.

[0055] Figure 2 In the embodiment shown, in the high-speed driving section of the overhead crane OHT or the adjacent merging section, the initial entry section into which the overhead crane OHT enters is provided with a merging section status display device 60, and the camera 23 attached to the overhead crane OHT can grasp the entry status information of the entry section at a long distance.

[0056] Figure 3is a diagram of a power line communication configuration according to the present invention, Figure 4 This is a system configuration diagram for explaining the case where the overhead traveling vehicle realizes contactless power communication.

[0057] Below, in the description Figure 3 Before that, a brief description of power line communication is given.

[0058] Power Line Communication (PLC) is a technology that uses power lines that supply AC or DC power as a medium to transmit data (voice, video, etc.) in high-frequency signals ranging from hundreds of kHz to tens of MHz.

[0059] Recently, the frequency range of power line communication has been generally extended to 30MHz, and with the development of digital signal processing technology, ultra-high-speed communication from several Mbps to hundreds of Mbps or more can be achieved. In the increasingly complex field of logistics automation, if this power line communication technology is adopted, the wiring can be minimized, and large-capacity data transmission can be effectively processed. High-speed control signal transmission is also required at the intersection where the fast-moving overhead crane OHT converges. If large-capacity data such as sensors and cameras and high-speed control signals of the intersection are to be transmitted on the central controller at the same time, a system that can process larger-capacity data at high speed is required.

[0060] Reference Figure 3 It can be seen that in the present invention, since non-contact communication with the overhead traveling vehicle OHT entering the intersection is required, in addition to contact power line communication, a non-contact power line communication configuration using a non-contact coupling device (inductive coupler) is included.

[0061] That is, in the present invention, Figure 3 As shown, the central controller 30 and the terminal / extension device 40 physically connected to the power line C adopt a connection method using a contact-type connection device. The central controller 30 and the terminal / extension device 40 of the contact-type power line communication are physically connected to the laid power line using contact-type connection devices 35, 45 (capacitive coupler; Capacitive Coupler).

[0062] Through the physically connected power line C, power can be supplied from the power supply device 10 to the central controller 30 and the terminal / extension device 40, and high-frequency communication signals are also transmitted between the central controller 30 and the terminal / extension device 40 through the power line C to achieve communication.

[0063] For a device that is difficult to connect physically, such as an overhead crane OHT, a non-contact coupling device 24, 25 is used.

[0064] The power line C to be laid is a transmission line that can generate an induced magnetic field, and can work like a near-field antenna, so that it can be combined with surrounding near-field antennas through the magnetic field.

[0065] The present invention utilizes this principle to construct the power line C connected to the central controller 30 as a transmission line, and connects the loop antenna as a near-field antenna to the overhead traveling vehicle controller. Figure 4 as shown, to ensure that they can be magnetically coupled to each other.

[0066] Reference Figure 4 It can be seen that the non-contact coupling device provided on the overhead crane OHT includes: a loop antenna 24, which receives a wireless power signal that is a combination of high-frequency data and power generated by a power line as a two-wire transmission line; and a coupler 25, which filters the high-frequency data and provides it to the power line communication means 22. In addition, the power source for driving the overhead crane controller 20 may also be configured with an internal power source.

[0067] The central controller 30 is a collision prevention central controller installed at the intersection of the line. It can be connected to the OCS (or upper server) through wireless / wireless communication, and can receive information required for intersection control in real time or remotely control the function improvement of the central controller 30. The central controller 30 generates a traffic control sequence to ensure that the simultaneous entry of overhead cranes can be fundamentally prevented.

[0068] The overhead crane controller 20 is a device mounted on the overhead crane entering the intersection and capable of performing power line communication with the central controller 30. In the following embodiments, the concept of integrating the communication means for performing power line communication with the central controller 30 and the control unit for controlling the overhead crane is described, but the present invention is not limited thereto. The control unit for controlling the overhead crane through the OCS and the power line communication unit may also be separated into a structure connected to an I / O or communication device.

[0069] The overhead traveling vehicle controller 20 includes an intersection passing sequence controlled by the central controller 30 for entering the intersection. In addition, the overhead traveling vehicle controller 20 may include a configuration capable of understanding the movement distance (position movement information) of the overhead traveling vehicle when it moves on the line.

[0070] The position movement information can be obtained by using the configuration of sensors installed on the moving overhead crane (see Figure 6 ), or a configuration in which a separate sensor disposed on the intersection line of the mobile crane receives input (refer to Figure 7 ).

[0071] The terminal / extension device 40 includes a transmission line matching unit arranged at the terminal of the power line C for ensuring smooth communication between the central controller 30 and the overhead crane controller 20 , and is coupled to the power line C via a contact coupling device 45 , thereby performing power line communication with the central controller 30 .

[0072] Figure 5 This is a schematic diagram for explaining a method of recognizing the position of a moving object based on the wiring pattern of a transmission line.

[0073] Figure 5 The embodiment can sense the position movement information of the overhead crane OHT through the signal strength received during the communication between the overhead crane controller 20 and the central controller 30 according to the two wiring structures of the power line (two-wire transmission line).

[0074] In a two-wire transmission line, the characteristic impedance changes due to the distance and shape of the two conductors, resulting in impedance mismatch. Therefore, standing waves are generated on the two-wire transmission line, and the communication signal strength changes due to the influence of these standing waves, which affects the communication performance.

[0075] In a two-wire transmission line where the distance between the two conductors is constant, i.e., parallel, the communication signal strength is constant when the terminals are matched, except for the communication blind spots caused by predictable electrical characteristics and transmission line structure problems. However, in a two-wire transmission line where the distance between the two conductors is not constant, i.e., not parallel or with different shapes, standing waves are generated at each position, which causes the communication signal strength to vary.

[0076] This embodiment includes a configuration for grasping the position of a moving object by utilizing changes in communication signal strength that occur according to the distance between the two-wire transmission lines and the transmission line configuration.

[0077] like Figure 5 As shown, by repeating the configuration in which the distance between the two conductors is periodically narrowed or widened, it is ensured that the communication signal strength can be varied.

[0078] The communication signal is received at a low reception sensitivity in places where the communication signal strength is weak, and is received at a high reception sensitivity in places where the communication signal strength is strong.

[0079] The overhead crane can calculate the moving position by using the communication strength received while moving on the transmission line.

[0080] As an implementation example, if the length of the transmission line is 10m, if the transmission line is connected at intervals of 1m Figure 5 With such configuration, the received communication strength can be counted 10 times at intervals of 1 m.

[0081] For example, if the communication count of the overhead traveling vehicle is 3 times, the current position of the moving body is at a position 3M from the entry start point.

[0082] Figure 6 It is a schematic diagram of the structure of the control system according to the intersection of the method of carrying sensors on the overhead crane to obtain the position movement information of the overhead crane.

[0083] exist Figure 6 In the intersection control system, an additional sensor 26 such as an optical flow sensor is added to the overhead crane controller 20, so that when the overhead crane OHT moves, the overhead crane controller 20 can obtain the position movement information of the overhead crane OHT.

[0084] The sensors provided on the overhead crane may include any configurations generally capable of recognizing a change in position movement, such as an optical flow sensor or an IMU sensor, a camera, etc., which recognize a change in position movement by sensing a change in the surface of the route on which the overhead crane OHT moves.

[0085] The crane controller 20 transmits the information of the movement amount (±α), movement speed, crane number, and crane status (driving / stopping) to the central controller 30 based on the station tags T1 and T2.

[0086] The central controller 30 transmits the positions of the starting points 1a and 2a of the danger zones of the lines L1 and L2, the entry permission status from the starting points 1a and 2a of the danger zones to the end points 1b and 2b of the danger zones, and the control status information of each overhead crane controller to the overhead crane controller 20 .

[0087] Here, the central controller 30 calculates the position (D-α) of the OHT based on the total length D of each line and taking the α value and the moving speed into consideration.

[0088] The central controller 30 continuously calculates the position of the overhead crane OHT, and transmits an entry permission signal to the overhead crane controller 20 of the corresponding overhead crane, which allows the overhead crane OHT closer to the starting point 1a, 2a of the danger zone to enter first, based on the calculated position of the overhead crane OHT.

[0089] However, an overhead crane with a moving speed of "0" is regarded as being parked or operating (unloading / unloading), and is excluded from the objects allowed to enter.

[0090] The central controller only allows one overhead traveling vehicle to enter between the start point 1a, 2a of the danger zone and the end point 1b, 2b of the danger zone. In the figure, among the overhead traveling vehicles located on the two lines, the overhead traveling vehicle OHT1 on the first line L1 is located closer to the start point 1a, 2a of the danger zone than the overhead traveling vehicle OHT2 on the second line L2. Therefore, an entry permission signal is transmitted to the overhead traveling vehicle controller 20 of the overhead traveling vehicle OHT1 on the first line L1.

[0091] The overhead crane controller 20 will attempt to enter the merging section only when it receives an entry permission signal from the central controller 30. If it does not receive an entry permission signal from the central controller 30 in the merging section, it will stop at the starting point 1a, 2a of the danger zone.

[0092] If the central controller determines that the position of the overhead crane OHT1 that enters the intersection section first has passed the end points 1b and 2b of the danger zone, it will transmit an entry permission signal to the corresponding overhead crane OHT based on the positions of the remaining overhead cranes that want to enter the intersection section to ensure that the overhead cranes closer to the starting points 1a and 2a of the danger zone can enter the intersection.

[0093] Table 1 below shows a communication data packet, which is data transmitted from the overhead crane controller 20 of the overhead crane OHT that wants to pass through the merging section to the central controller 30, and includes overhead crane information showing the driving or stopping state, driving information such as the moving amount and moving speed, and ID information. If the central controller 30 calls the overhead crane controller 20, the target responding overhead crane transmits the following data as a response signal.

[0094]

Table 1

[0095] Skytrain Information Driving information ID Drive / Stop Movement amount, movement speed OHT Identification Number

[0096] In addition, Table 2 below shows the traffic control data packet structure of the data transmitted by the central controller 30 to the overhead crane controller 20 in communication in the form of broadcast. In Table 2 below, entry permission indicates yes when there is an overhead crane that is allowed to enter the intersection section, and no when there is no overhead crane. The number of N slots of the overhead crane controller can vary with the number of overhead crane controllers in communication. The control information includes the overhead crane number received by the overhead crane controller and the overhead crane control information (entry / stop).

[0097]

Table 2

[0098]

[0099]

[0100] Figure 7 The present invention is a schematic diagram of the structure of a merging control system realized by a position information updating device arranged on a line.

[0101] Figure 7 The control system in the embodiment is provided with position information updating devices 51, 52 on the intersection line where the overhead crane OHT travels, so as to ensure that the overhead crane controller can update the position movement information.

[0102] A plurality of position information updating devices are provided on the first line L1 and the second line L2. Figure 7As an example, two location information updating devices 51-1, 51-2, 52-1, 52-2 are respectively provided in the safety zones of the first line L1 and the second line L2, one device 51-3, 52-3 is provided at the boundary between the safety zone and the danger zone, and one device 51-4, 52-4 is provided on the terminal side of the danger zone.

[0103] Therefore, the sensor (position information updating device) installed on the intersection line includes the following structure, which divides the line where the overhead crane OHT moves into a safe area and a dangerous area, and transmits the safe area and dangerous area information to the entering overhead crane controller 20 to ensure that the position information can be grasped.

[0104] The overhead crane controller 20 includes a power line communication means capable of simultaneously transmitting and receiving at different communication frequencies. In this embodiment, the communication between the power line communication means 27 and the position information updating devices 51 and 52 transmits and receives position information at a communication frequency F2 different from the communication frequency F1 between the overhead crane controller 20 and the central controller 30.

[0105] When the overhead crane OHT is in the area between the first position information updating device 51-1, 52-1 and the third position information updating device 51-3, 52-3, it will be identified as a safe area. When it is in the area between the third position information updating device 51-3, 52-3 and the fourth position information updating device 51-4, 52-4, it will be identified as a dangerous area and the position information will be updated with corresponding information.

[0106] The communication between the crane controller 20 and the central controller 30 is bidirectionally transmitted / received via the first frequency (F1 frequency), and the crane controller 20 transmits position information and moving speed, OHT number, and crane status (driving / stopping) information to the central controller 30 .

[0107] The central controller 30 transmits the entry permission status of the dangerous zone section of each line and the control status information of each overhead crane controller to the overhead crane controller 20 .

[0108] The central controller 30 transmits an entry permission signal for allowing the overhead traveling vehicle OHT that first starts communication via the first position information updating devices 51 - 1 , 52 - 1 to enter the merge section first.

[0109] However, an overhead crane with a moving speed of "0" is regarded as being parked or operating (unloading / unloading), and is excluded from the objects allowed to enter.

[0110] The central controller only allows one overhead crane to enter the danger zone.

[0111] If the overhead traveling vehicle controller 20 obtains entry permission from the central controller 30 before passing the second position information updating devices 51 - 2 , 52 - 2 , the overhead traveling vehicle controller 20 will continue traveling and attempt to enter the intersection.

[0112] The overhead traveling vehicle controller 20 that fails to obtain entry permission from the central controller 30 before passing the second position information updating devices 51 - 2 , 52 - 2 moves at a low speed and stops at the position of the third position information updating devices 51 - 3 , 52 - 3 .

[0113] If the central controller 30 determines that the overhead traveling vehicle OHT is beyond the fourth position information updating device 51-4, 52-4, it will issue a command to make the overhead traveling vehicle OHT stopped at the third position information updating device 51-3, 52-3 enter first.

[0114] If there is no overhead traveling vehicle OHT stopped at the position of the third position information updating device 51 - 3 , 52 - 3 , the central controller 30 issues a command to cause the overhead traveling vehicle OHT that started communication first to enter first.

[0115] Although the present invention has been described in relation to the preferred embodiments mentioned above, various modifications or variations can be implemented without departing from the spirit and scope of the present invention. Therefore, the scope of the appended claims includes these modifications or variations that belong to the spirit of the present invention.

Claims

1. A merging control system based on the position of an overhead crane using power line communication, characterized in that: The intersection and passing control system comprises: an overhead crane controller, which is mounted on an overhead crane moving along the line; a central controller, which is arranged at the intersection section of the line and controls the intersection and passing of multiple overhead cranes. A power line is provided in the section from the point where the overhead travelling vehicle enters to the terminal of the intersection section on the line, and the central controller and the overhead travelling vehicle controller mutually transmit and receive data for intersection passing control through power line communication.

2. The merging control system based on the position of an overhead crane using power line communication according to claim 1, characterized in that: The central controller determines the starting point and the ending point of the danger zone on each line in the intersection section, and uses this as a reference to control the passage of the overhead travelling vehicle through the intersection section.

3. The merging control system based on the position of an overhead crane using power line communication according to claim 1, characterized in that: The overhead crane controller transmits overhead crane information showing a driving or stopping state, driving information including at least one of a moving amount and a moving speed, and overhead crane identification information to the central controller via the power line communication.

4. The overhead crane position-based merging control system using power line communication according to claim 1, characterized in that: The central controller transmits data related to the starting point of the danger zone, information on whether entry is allowed, information on the selection of the responding crane, and the number of crane controllers in communication to the crane controller via the power line communication.

5. The merging control system based on the position of an overhead crane using power line communication according to claim 1, characterized in that: Also includes: The terminal device includes a terminal arranged at the power line, and a transmission line matching unit for ensuring smooth communication between the central controller and the overhead travelling crane controller. It is combined with the power line through a contact-type combining device, so as to perform power line communication with the central controller.

6. The merging control system based on the position of an overhead crane using power line communication according to claim 1, characterized in that: The central controller is connected to the power line through a contact connection device. The overhead crane controller is combined with the power line through a non-contact combination device, so as to perform power line communication with the central controller.

7. The merging control system based on the position of an overhead crane using power line communication according to claim 1, characterized in that: An intersection section status display device for displaying the state of the intersection section is provided at the first entry section of the intersection section of the line. A camera is arranged on the overhead travelling vehicle, so that the overhead travelling vehicle controller obtains the accessible status information of the intersection section through the image captured by the camera.

8. The merging control system based on the position of an overhead crane using power line communication according to claim 1, characterized in that: The overhead travelling vehicle comprises a sensor for detecting position movement information, and the overhead travelling vehicle controller transmits the position movement information detected by the sensor to the central controller.

9. The merging control system based on the position of an overhead crane using power line communication according to claim 8, characterized in that: The sensor is any one of an optical flow sensor, an IMU sensor, and a camera that senses surface changes of the circuit and thereby identifies position changes.

10. The merging control system based on the position of an overhead crane using power line communication according to claim 1, characterized in that: A position information updating device for detecting position movement information of the overhead traveling vehicle is provided on the line of the intersection section, and the overhead traveling vehicle controller receives the position movement information of the overhead traveling vehicle from the position information updating device through wireless power communication. The frequency of the wireless power line communication is different from the frequency of communication between the central controller and the overhead travelling vehicle controller.

11. The merging control system based on the position of an overhead crane using power line communication according to claim 1, characterized in that: The power line is used as a two-wire transmission line, and the distance between the two conductor lines is set to be periodically variable. The overhead traveling vehicle controller calculates a moving position of the overhead traveling vehicle based on a reception strength of a signal received through the power line.

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