Apparatus for and method of controlling driving of transport vehicle in goods transport system

A method of controlling driving of a transport vehicle in a goods transport system, the method comprising:

• acquiring information on a movement path of the transport vehicle;
• generating a positional signal determining a position of the transport vehicle on the movement path;
• generating a speed signal determining a speed of the transport vehicle on the basis of the positional signal;
• generating a front-wheel torque signal and a rear-wheel torque signal by differently distributing front-wheel torque and rear-wheel torque on the basis of inclination of the movement path and the speed signal;
• and
• causing the transport vehicle to travel by controlling rotation torque of a front wheel and rotation torque of a rear wheel of the transport vehicle on the basis of the front-wheel torque signal and the rear-wheel torque signal, respectively.

A transport vehicle in a goods transport system, the transport vehicle comprising:

• a goods holding unit configured to receive goods from a manufacturing equipment item and hold the received goods in the goods transport system;
• a drive unit configured to travel along a traveling rail;
• and
• a control unit configured to control the goods holding unit and the drive unit,
• wherein the control unit comprises:
• a processing unit configured to receive a command to the transport vehicle and provide information on a movement path of the transport vehicle;
• a motion controller configured to generate a drive signal including a front-wheel torque signal and a rear-wheel torque signal for driving a front wheel and a rear wheel, respectively, of the transport vehicle in order for the transport vehicle to travel along the movement path;
• a front-wheel torque controller configured to control rotation torque of the front wheel on the basis of the front-wheel torque signal;
• and
• a rear-wheel torque controller configured to control rotation torque of the rear wheel on the basis of the rear-wheel torque signal, and
• the motion controller comprises:
• a position controller configured to generate a positional signal determining a position of the transport vehicle on the movement path;
• a speed controller configured to generate a speed signal determining a speed of the transport vehicle on the basis of the positional signal;
• and
• a torque distributor configured to generate the front-wheel torque signal and the rear-wheel torque signal by differently distributing front-wheel torque and rear-wheel torque on the basis of inclination of the movement path and the speed signal, to provide the front-wheel torque signal to the front-wheel torque controller, and to provide the rear-wheel torque signal to the rear-wheel torque controller.