Joining and passage control system on cart position basis using power line communication

Abstract

To make it possible to process data at a high speed anywhere within a section, where a power line is laid down, irrespective of whether an apparatus is a stationary apparatus or a movable apparatus, and to smoothly control the passage of carts through a joining section without the necessity of another communication facility.SOLUTION: A joining and passage control system includes a cart control machine installed in a cart which moves along rails, and a central control machine that is installed in a joining section of rails and controls joining and passage of plural carts. A power line is laid in the rails over a section ranging from a point where the carts enter to a terminal of a joining section. The central control machine and the cart control machine mutually transmit or receive data used to control joining or passage through power line communication. An existing power line communication system can process data only for a stationary apparatus, whereas the present invention enables data to be processed at a high speed anywhere in a section where the power line is laid, irrespective of whether the apparatus is stationary or moving.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a technology for controlling passage through junction sections in an overhead transport system, and more particularly, to a technology for smoothly controlling passage of carts through junction sections by enabling high-speed data processing anywhere in a section where power lines are installed, regardless of whether the device is fixed or mobile, without requiring separate communication equipment. [Background technology]

[0002] An overhead hoist transport system is installed in large hospitals, semiconductors, LCDs, OLEDs, solar panels, production plants, etc., where many objects are to be transported. It includes an overhead hoist transfer (OHT) and rails for guiding the OHT as a moving body for transporting objects. The transport cart, i.e., the OHT, runs along rails installed on the ceiling. The OHT is integrated and controlled by an OHT control system (OCS) that issues transport commands. When the overhead transport system is installed in an LCD or OLED, particularly a semiconductor production line, rails are arranged using the ceiling space in a clean room, and the OHT driven on the rails transports objects to be transported, such as LCDs or OLEDs and semiconductor substrates, between the transport ports of processing equipment or inspection equipment. The travel rail is supported by the ceiling of the clean room, etc., by pillars, etc., and consists of a travel rail body and a power supply rail. The OHT has a travel drive unit and can travel inside the travel rail body, and receives signals from the power supply rail by a power receiving unit to communicate with the OCS. The overhead transport system transports objects by having multiple OHTs travel on a track. The track has a branching section where an OHT traveling in a straight line can branch off to move to another track, and a merging section where an OHT moving from the branching section can enter the other track. The OHT branches off to multiple locations and travels on the connected tracks to transport objects to the desired location.

[0003] In such an overhead transport system, a collision prevention system may be installed to prevent the carriages from colliding with each other at branching or merging points of the tracks. As a prior art, a technology has been proposed in which the carriages communicate with each other via guide wires installed near the branching and merging points, thereby recognizing each other and preventing collisions.

[0004] As an example, Korean Patent Publication No. 2013-0120530 discloses a rail-guided vehicle system including a transmitter unit that emits multiple signals having different frequencies, a transmitter unit that transmits the multiple signals emitted from the transmitter unit to a guide wire, a receiver unit that receives the multiple signals transmitted through the guide wire, a determination unit that determines whether the vehicle should slow down or stop, or speed up, based on the type of signal received, and a control unit that controls the traveling of the vehicle in accordance with the determination result of the determination unit.

[0005] The above-mentioned prior art technology determines whether to slow down, stop, or move depending on the type of frequency received through the induction wire, and must store which frequency signal indicates slowing down, stopping, or moving depending on the type of frequency received at each junction or branching point. Therefore, in a situation where such a situation must be detected and acted upon, a complex configuration of the communication circuit (addition of frequency types) is required, and there is a possibility of collision due to an error in memory unit management (defining the trolley operation by frequency type for each point).

[0006] Furthermore, if two trolleys enter a junction at the same time, all of them may receive a stop signal and be unable to proceed. Furthermore, there is a problem in that it cannot be used in junction sections that include three or more railway lines due to limitations on the frequencies that can be used. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Korean Patent Publication No. 2013-0120530 [Patent Document 2] Korean Patent No. 10-1890847 [Patent Document 3] Patent No. 5440701 [Patent Document 4] Patent No. 4241306 [Patent Document 5] Korean Patent No. 2459085 Summary of the Invention [Problem to be solved by the invention]

[0008] The present invention has been devised to solve the above-mentioned problems, and an object of the present invention is to enable high-speed data processing anywhere in a section where power lines are laid, regardless of whether the device is fixed or mobile, and to enable smooth control of the passage of vehicle junctions without requiring separate communication facilities. [Means for solving the problem]

[0009] According to one aspect of the present invention to achieve the above-mentioned object, there is provided a bogie position-based merging and passing control system including a bogie controller mounted on a bogie moving along a railroad track, and a central controller provided in a merging section of the railroad track for controlling the merging and passing of a plurality of the bogies, wherein a power line is provided on the railroad track from a point where the bogie enters to a section leading to an end of the merging section, and the central controller and the bogie controller transmit and receive data for merging and passing control to and from each other via power line communication.

[0010] Here, the central controller may determine a position of a danger zone start point and a position of a danger zone end point on each track of the merging section and control the passage of the bogie through the merging section based on the determination, and the bogie controller may transmit bogie information indicating a running or stopped state, traveling information including at least one of a moving amount and a moving speed, and bogie identification information to the central controller through the power line communication, and the central controller may transmit data regarding the danger zone start point, information on whether entry is permitted, information on selection of a responding bogie, and information on the number of the bogie controllers currently communicating to the bogie controller through the power line communication.

[0011] In addition, it is preferable that the power supply system further includes a termination device that is provided at an end of the power line and includes a transmission line matching unit for smooth communication between the central controller and the bogie controller, and is coupled to the power line via a contact coupling device and performs the power line communication with the central controller.

[0012] It is also preferable that the central controller is connected to the power line via a contact coupling device, and the trolley controller is connected to the power line via a non-contact coupling device, and performs power line communication with the central controller.

[0013] In addition, a merging section status display device that displays the status of the merging section is provided at the entrance of the merging section of the tracks, and a camera is installed on the bogie, and the bogie controller can obtain information on the status of entry to the merging section from the image captured by the camera.

[0014] In addition, the bogie includes a sensor for detecting positional movement information, and the bogie controller transmits the positional movement information detected through the sensor to the central controller. The sensor is any one of an optical flow sensor, an IMU sensor, and a camera that detects changes in the surface of the track to recognize the positional change.

[0015] In addition, a position information updating device for detecting position movement information of the bogie is provided on the tracks in the merging section, and the bogie controller can be configured to receive the position movement information of the bogie from the position information updating device through non-contact power line communication, and it is preferable that the frequency of the non-contact power line communication is different from the communication frequency between the central controller and the bogie controller.

[0016] In addition, the power line is a two-wire transmission line configured so that the distance between the two conductor lines is periodically variable, and the bogie controller can also calculate the movement position of the bogie based on the reception strength of a signal received via the power line. Effect of the Invention

[0017] In conventional power line communication systems, data processing was possible only for fixed devices, but the present invention has the advantage of being able to process data at high speeds anywhere in the section where the power lines are laid, regardless of whether the device is fixed or moving.

[0018] In addition, there have been conventional RFID systems in which a reader receives and processes tag information via short-range wireless communication that enables communication with mobile objects. However, RFID systems have difficulty transmitting and processing large amounts of data at high speed due to the low volume of data that can be stored in the tag and the slow communication speed of around a few tens of Kbps. However, the present invention has the advantage of enabling high-speed communication that can process large amounts of data via power line communication.

[0019] In addition, the system has an advantage in that power supply and high-speed communication are possible without laying separate power and communication cables in the termination / expansion device of the system, and the device can be easily expanded. [Brief description of the drawings]

[0020] [Figure 1] FIG. 1 is a diagram showing an embodiment in which an interface medium for communication is provided on a line according to an embodiment of the present invention. [Diagram 2] FIG. 13 is a diagram showing an embodiment in which an interface medium for communication is provided on a line according to another embodiment of the present invention. [Diagram 3] FIG. 2 is a diagram showing a power line communication configuration according to the present invention. [Figure 4] FIG. 11 is a system configuration diagram for explaining that contactless power communication is performed on a cart. [Diagram 5] 1A and 1B are diagrams for explaining a method for recognizing the position of a moving object according to the wiring form of a transmission line. [Figure 6] FIG. 13 is a diagram showing the configuration of a merging passage control system that uses sensors mounted on a cart to obtain information on the position and movement of the cart. [Figure 7] FIG. 1 is a diagram showing the configuration of a merging and passing control system via a position information updating device installed on a railway line. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] The embodiments described in the present invention and the configurations shown in the drawings are merely preferred embodiments of the present invention and do not fully express the technical ideas of the present invention, and therefore the scope of the present invention should not be interpreted as being limited to the embodiments and drawings described in the present specification. In other words, since the embodiments can be modified in various ways and can have various forms, the scope of the present invention should be understood to include equivalents that can realize the technical ideas. In addition, the objectives or effects presented in the present invention do not mean that a specific embodiment must include all of them or must include only such effects, and therefore the scope of the present invention should not be understood as being limited thereto.

[0022] All terms used herein, unless otherwise defined, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention pertains. Terms commonly used and defined in dictionaries should be interpreted as meanings consistent with the meanings they have in the context of the relevant art, and cannot be interpreted as having ideal or overly formal meanings not clearly defined in the present invention.

[0023] In the following, a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a diagram showing a form in which an interface medium for communication is provided on a line according to an embodiment of the present invention.

[0024] In the following embodiment, a junction section where two tracks merge into one track is illustrated, however, the present invention is not limited to this and can of course also be applied to a junction section consisting of more tracks. As shown in FIG. 1, in the present invention, interface media C1, C2 are provided on tracks L1, L2 along which the bogie OHT moves, so that communication can be performed between a central controller 30 and a bogie controller 20, which will be described later.

[0025] On the tracks L1, L2 along which the bogie OHT travels, interface media C1, C2 are provided from the entrance where the bogie OHT enters to the end of the merging section in order to prevent unnecessary speed reduction or running stoppage that may occur due to the merging passing sequence of the bogie OHT.

[0026] In the present invention, power lines in the form of transmission lines are used as the interface media C1 and C2, and the input specifications and the presence or absence of input from the power source may be changed depending on the configuration of additional optional functions.

[0027] When power is supplied, one method for finding out the position movement information of the bogie OHT may require power supply to a separate sensor (position information update device, see the explanation for Figure 7) installed on the track in the merging section.

[0028] FIG. 2 is a diagram showing a form in which an interface medium for communication is provided on a line according to another embodiment of the present invention. In the embodiment of FIG. 2, a merging section status display device 60 is provided at the entrance where the bogie OHT enters in a high-speed traveling section of the bogie OHT or an adjacent merging section, and information on the entry status of the entrance section can be recognized even from a long distance through a camera 23 attached to the bogie OHT.

[0029] FIG. 3 is a diagram showing the power line communication configuration according to the present invention, and FIG. 4 is a system configuration diagram for explaining that contactless power communication is performed on a cart.

[0030] Before explaining FIG. 3, a brief explanation of power line communication will be given. Power Line Communication (PLC) is a technology that transmits data (audio, video, etc.) via high-frequency signals ranging from several hundred KHz to several tens of MHz, using power lines that supply AC or DC power as a medium.

[0031] Recently, the frequency range of power line communication has been generally extended up to 30 MHz, and advances in digital signal processing technology have made ultra-high speed communication possible, from a few Mbps to hundreds of Mbps or more. In the field of logistics automation, which is becoming increasingly complex, the use of such power line communication technology is effective in transmitting and processing large volumes of data while minimizing wiring. High-speed control signal transmission is also required at junctions where high-speed moving OHT trolleys join. If a central controller is to transmit large volumes of data from sensors and cameras, etc., and high-speed control signals at the junctions at the same time, a system that can process larger volumes of data at high speed is required.

[0032] Referring to FIG. 3, in the present invention, since non-contact communication with the OHT entering the junction is required, the present invention includes not only contact-type power line communication, but also a configuration of non-contact power line communication using a non-contact coupling device (Inductive Coupler).

[0033] That is, in the present invention, the central controller 30 and the termination / extension device 40, which are physically connected to the power line C, use a coupling method using a contact type coupling device as shown in Fig. 3. In the contact type power line communication, the central controller 30 and the termination / extension device 40 are physically connected to the laid power line using contact type coupling devices 35, 45 (capacitive couplers).

[0034] Power is supplied from the power supply unit 10 to the central controller 30 and the termination / expansion unit 40 through the physically connected power line C, and high frequency communication signals are also transmitted between the central controller 30 and the termination / expansion unit 40 through the power line C for communication.

[0035] For devices that are difficult to physically couple, such as the OHT trolley, a method using non-contact coupling devices 24, 25 is used. The laid power line C becomes a transmission line in a form capable of generating an induced magnetic field, and can operate like a near-field antenna, coupling with surrounding near-field antennas via a magnetic field.

[0036] Using this principle, the present invention configures the power line C, which is connected to the central controller 30, as a transmission line, and connects a loop antenna, which is a near-field antenna, to the bogie controller so that they can be magnetically coupled to each other, as shown in Figure 4.

[0037] 4, the non-contact coupling device installed in the bogie OHT can include a loop antenna 24 that receives a wireless power signal coupled with a power source generated from a power line, which is a two-wire transmission line, and high-frequency data, and a coupler 25 that filters the high-frequency data and provides it to the power line communication means 22. In addition, the power source for driving the bogie controller 20 can be configured as a separate internal power source.

[0038] The central controller 30 is a collision prevention central controller installed at the junction of tracks, and can be connected to the OCS (or a higher-level server) via wired / wireless communication, and is configured to receive information required for junction control in real time or remotely control improvements to the functions of the central controller 30. The central controller 30 generates a traffic control sequence to fundamentally prevent simultaneous entry of carriages.

[0039] The bogie controller 20 is mounted on a bogie entering the junction and is a device capable of performing power line communication with the central controller 30. In the following embodiments, the control unit that controls the bogie and the communication means that performs power line communication with the central controller 30 are described as an integrated concept, but this is not limited to this, and the control unit that controls the bogie through the OCS and the power line communication unit can also be separated into a structure in which they are connected by an I / O or communication device.

[0040] The bogie controller 20 includes a merging passing sequence controlled by the central controller 30 for entering a merging section, and the bogie controller 20 may also include a configuration capable of recognizing the distance traveled (position movement information) as the bogie moves along the tracks.

[0041] The position movement information may be configured to use a sensor installed on the moving cart (see the explanation of FIG. 6) or may be configured to be input through a separate sensor installed on the junction track on which the moving cart runs (see the explanation of FIG. 7).

[0042] The termination / extension device 40 is provided at the end of the power line C and includes a transmission line matching unit for smooth communication between the central controller 30 and the bogie controller 20. The termination / extension device 40 is coupled to the power line C via a contact coupling device 45 and performs power line communication with the central controller 30.

[0043] FIG. 5 is a diagram for explaining a method for recognizing the position of a moving object depending on the wiring form of a transmission line. The embodiment of Figure 5 uses a wiring structure of two power lines (two-wire transmission line) to enable the bogie controller 20 to recognize position movement information of the bogie OHT based on the strength of the signal received during communication with the central controller 30.

[0044] In a two-wire transmission line, the characteristic impedance changes depending on the distance and shape of the two conductors, causing impedance mismatching. This causes standing waves in the two-wire transmission line, which in turn changes the strength of the communication signal, affecting communication performance.

[0045] In a two-wire transmission line where the distance between the two conductors is constant, i.e., parallel, the strength of the communication signal is constant if the termination is matched outside of the communication dead zone that occurs as a predictable electrical characteristic and structural problem of the transmission line. However, in a two-wire transmission line where the distance between the two conductors is not constant, i.e., not parallel, or has a different shape, standing waves are generated at each position, and the strength of the communication signal changes.

[0046] The present embodiment includes a configuration that can grasp the position of a moving object by using the change in the strength of a communication signal that occurs due to the distance between such two-wire transmission lines and the configuration of the transmission lines.

[0047] As shown in FIG. 5, the distance between two conductors can be repeatedly and periodically narrowed or widened to vary the strength of the communication signal. In a location where the communication signal is weak, the signal is received with low reception sensitivity, and in a location where the communication signal is strong, the signal is received with high reception sensitivity. The cart can calculate its position using the strength of the communications received as it moves along the transmission line.

[0048] As an example, if the transmission line is 10 m long and is arranged at 1 m intervals as shown in FIG. 5, it is possible to count 10 times at 1 m intervals using the strength of the received communication. For example, if the communication counter of the cart is 3, the current position of the moving body is 3 m from the entry point.

[0049] FIG. 6 is a diagram showing the configuration of a merging passage control system that uses sensors mounted on the carts to obtain information on the position and movement of the carts. In the merging and passing control system of Figure 6, a separate sensor 26 such as an optical flow sensor is added to the bogie controller 20 so that position movement information of the bogie OHT can be obtained from the bogie controller 20 when the bogie OHT moves.

[0050] The sensors installed on the trolley can include any configuration that can detect changes in the surface of the track on which the trolley OHT moves and recognize changes in position, such as optical flow sensors or IMU sensors, cameras, etc., that can recognize changes in normal position movement.

[0051] The carriage controller 20 transmits to the central controller 30 information on the movement amount ±α, the movement speed, the carriage number, and the carriage state (running / stopped) based on the station tags T1 and T2. The central controller 30 transmits to the bogie controller 20 the positions of the danger zone starting points 1a, 2a for each track L1, L2, the entry permission status between the danger zone starting points 1a, 2a and the danger zone end points 1b, 2b, and the control status information for each bogie controller.

[0052] Here, the central controller 30 calculates the position D-α of the OHT based on the overall length D of each track, taking into account the α value and the moving speed. The central controller 30 continuously calculates the position of the trolley OHT and transmits an entry permission signal to the trolley controller 20 of the trolley OHT, which allows the trolley OHT closest to the danger zone starting point 1a, 2a to enter first based on the calculated position of the trolley OHT.

[0053] However, carts with a movement speed of "0" are considered to be stopped or in operation (loading / unloading), and are excluded from being allowed to enter.

[0054] The central controller permits only one bogie to enter between the danger zone starting points 1a, 2a and the danger zone end points 1b, 2b. In the drawing, among the bogies positioned on the two tracks, the bogie OHT1 on the first track L1 is closer to the danger zone starting points 1a, 2a than the bogie OHT2 on the second track L2, so it transmits an entry permission signal to the bogie controller 20 for the bogie OHT1 on the first track L1.

[0055] The bogie controller 20 attempts to enter the merging section only when it receives an entry permission signal from the central controller 30, and if it does not receive an entry permission signal from the central controller 30 at the merging section, it stops at the position of the danger zone starting point 1a, 2a.

[0056] When the central controller determines that the position of the OHT1, which has entered the merging section ahead of the other vehicles, has passed the end points 1b and 2b of the danger zone, it transmits an entry permission signal to the OHT, so that the vehicle closest to the start points 1a and 2a of the danger zone can enter the merging point based on the positions of the other vehicles that are about to enter the merging section.

[0057] Table 1 below shows a communication packet, which includes bogie information indicating a running or stopped state, traveling information such as a moving amount and a moving speed, and ID information as data transmitted from the bogie controller 20 of the bogie OHT that is about to pass through the merging section to the central controller 30. When the central controller 30 calls the bogie controller 20, the following data is transmitted as a response signal from the corresponding responding bogie.

[0058] [Table 1]

[0059] Table 2 below shows the traffic control packet structure of data transmitted in broadcast form from the central controller 30 to the bogie controllers 20 with which it is communicating. In Table 2 below, entry permission indicates "Yes" if there is a bogie permitted to enter the merging section, and "No" if there is not, and the number of bogie controller N slots may vary depending on the number of bogie controllers with which it is communicating. The control information includes the bogie number and bogie control information (enter / stop) received from the bogie controller.

[0060] [Table 2]

[0061] FIG. 7 is a diagram showing the configuration of a merging and passing control system via a position information updating device installed on a railway line. In the control system of FIG. 7, position information updating devices 51 and 52 are provided on the tracks at the junction where the bogie OHT runs, so that the bogie controller can update the position movement information.

[0062] A plurality of location information update devices are provided on the first line L1 and the second line L2. In Fig. 7, two location information update devices 51-1, 51-2, 52-1, and 52-2 are provided in the safety zones of the first line L1 and the second line L2, and one device 51-3 and 52-3 is provided at the boundary point between the safety zone and the danger zone, and one device 51-4 and 52-4 is provided at the end of the danger zone.

[0063] In this way, the sensor (location information update device) installed on the tracks at the junction can include a configuration that divides the tracks along which the bogie OHT moves into safe areas and danger areas, and transmits information about the safe and danger areas to the entering bogie controller 20 so that the location information can be recognized.

[0064] The bogie controller 20 includes a power line communication means capable of simultaneously transmitting and receiving information at different communication frequencies. In this embodiment, the communication between the power line communication means 27 and the position information update devices 51 and 52 transmits and receives position information at a communication frequency F2 different from the communication frequency F1 between the bogie controller 20 and the central controller 30.

[0065] When the trolley OHT is in the area between the first position information update device 51-1, 52-1 and the third position information update device 51-3, 52-3, it is recognized as a safe area, and when it is in the area between the third position information update device 51-3, 52-3 and the fourth position information update device 51-4, 52-4, it is recognized as a dangerous area and the position information is updated to that information.

[0066] Communication between the bogie controller 20 and the central controller 30 is performed bidirectionally via the first frequency (F1 frequency), and the bogie controller 20 transmits position information, moving speed, OHT number, and bogie status (running / stopped) information to the central controller 30.

[0067] The central controller 30 transmits to the bogie controllers 20 the entry permission status for each track into the danger zone section and control status information for each bogie controller.

[0068] The central controller 30 transmits an entry permission signal to the bogie OHT, which has passed the first position information updating devices 51-1, 52-1 first and with which communication has commenced, so as to allow the bogie OHT to enter the merging section first. However, carts with a movement speed of "0" are considered to be stopped or in operation (loading / unloading), and are excluded from being permitted to enter.

[0069] The central controller allows only one trolley to enter the danger zone. If the bogie controller 20 receives permission to enter from the central controller 30 before passing through the second position information updating devices 51-2 and 52-2, the bogie controller 20 continues traveling and attempts to enter the junction.

[0070] Any vehicle controller 20 that does not receive entry permission from the central controller 30 before passing through 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.

[0071] When the central controller 30 determines that the position of the OHT has passed the fourth position information updating devices 51-4, 52-4, it commands the OHT stopped at the position of the third position information updating devices 51-3, 52-3 to advance ahead.

[0072] When there is no OHT parked at the position of the third position information updating devices 51-3 and 52-3, the central controller 30 commands the OHT with which communication has started first to advance ahead.

[0073] Although the present invention has been described with reference to the above preferred embodiment, various modifications and variations can be made thereto without departing from the spirit and scope of the present invention. It is therefore intended by the appended claims to cover such modifications and variations as fall within the spirit and scope of the present invention. [Explanation of symbols]

[0074] 10 Power supply device 20 Truck controller 21, 31, 41 Power supply 22, 32, 42 Power line communication means 23 Camera 24 Loop Antenna 25, 35, 45 coupler 26 Sensors 27 Power Line Communication Methods 30 Central Controller 40 Termination / Expansion Unit 51, 52 Location information update device 60 Merging section status display device

Claims

1. A merging and passing control system including a bogie controller mounted on a bogie moving along a railroad track, and a central controller provided in a merging section of the railroad track and controlling the merging and passing of a plurality of the bogies, A bogie position-based merging and passing control system using power line communication, characterized in that a power line is provided on the track from a point where the bogie enters to a section leading to an end of the merging section, and the central controller and the bogie controller transmit and receive data for controlling merging and passing to each other via power line communication.

2. 2. The vehicle position-based merging and passing control system using power line communication according to claim 1, wherein the central controller determines a position of a danger zone start point and a position of a danger zone end point on each track of the merging section, and controls the passage of the vehicle through the merging section based on the determined positions.

3. 2. The bogie position-based merging and passing control system using power line communication according to claim 1, wherein the bogie controller transmits bogie information indicating a running or stopped state, running information including at least one of a movement amount and a movement speed, and bogie identification information to the central controller via the power line communication.

4. 2. The vehicle position-based merging and passing control system using power line communication according to claim 1, wherein the central controller transmits data regarding the starting point of the danger zone, entry permission information, response vehicle selection information, and information regarding the number of the vehicle controllers currently communicating to the vehicle controller via the power line communication.

5. 2. The bogie position based merging and passing control system using power line communication according to claim 1, further comprising a transmission line matching unit provided at an end of the power line for smooth communication between the central controller and the bogie controller, and a termination device coupled to the power line via a contact coupling device for performing the power line communication with the central controller.

6. the central controller is coupled to the power line via a contact coupling device; 2. The bogie position-based merging / passing control system using power line communication according to claim 1, wherein the bogie controller is coupled to the power line via a non-contact coupling device and performs power line communication with the central controller.

7. A merging section status display device that displays a status of the merging section is provided at an entrance of the merging section of the track, 2. The vehicle position-based merging / passing control system using power line communication according to claim 1, wherein a camera is installed on the vehicle, and the vehicle controller obtains information on the entry status of the merging section through an image captured by the camera.

8. 2. The vehicle position-based merging / passing control system using power line communication according to claim 1, wherein the vehicle includes a sensor for detecting position movement information, and the vehicle controller transmits the position movement information detected through the sensor to the central controller.

9. The vehicle position-based merging and passing control system using power line communication according to claim 8, wherein the sensor is one of an optical flow sensor, an IMU sensor, and a camera that detects changes in the surface of the track and recognizes position changes.

10. A position information update device for detecting position movement information of the bogie is provided on the track of the merging section, and the bogie controller receives the position movement information of the bogie from the position information update device through non-contact power line communication; 2. The vehicle position-based merging / passing control system using power line communication according to claim 1, wherein a frequency of the non-contact power line communication is different from a communication frequency between the central controller and the vehicle controller.

11. the power line is a two-wire transmission line, and is provided such that the distance between two conductor wires is periodically varied; 2. The vehicle position-based merging / passing control system using power line communication according to claim 1, wherein the vehicle controller calculates a moving position of the vehicle based on a receiving strength of a signal received through the power line.

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