KR101981989B1 - Automated Guided Vehicles - Google Patents

Abstract

The unmanned vehicle according to one aspect of the present invention includes a body portion having an internal space, a sensor portion provided on the body portion to detect various states and conditions, and a sensor portion provided on the body portion, A cylinder part which is provided in an inner space of the body part and which lifts or lowers the material through an upward or downward movement and is provided in an inner space of the body part, The driving unit may be provided.

Description

Automated Guided Vehicles

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned vehicle, and more particularly, to an unmanned vehicle capable of withstanding a high load and capable of 360 degree autonomous driving.

Generally, automated guided vehicles move along guide lines installed on the ground floor, and they are devices that move a cargo such as a product or a part to another place without an operator operating the car.

These unmanned transportation vehicles play a pivotal role in the automation of the logistics system as the productivity of the modern industrial field increases and the overall production system is automated / intelligent to meet the various demands of the customers and the production logistics system is also automatized .

Therefore, in order to secure a turning radius on various copper lines, the conventional unmanned conveying vehicle is provided with a landing gear on an unmanned conveying vehicle such as 'Korean Utility Model Publication No. 20-1998-058764', and the traveling device is separated from the ground So as to make the direction changeable.

However, the above-described prior art is limited to a lifting device for changing the direction of an unmanned transportation vehicle, so that it can not cope with an automation line such as a conveyor having various heights and is difficult to apply to transportation of a cargo of several tons or more.

In order to improve this, it is necessary to increase the capacity of the landing gear and the height of the elevation shaft, and in order to support the cargo of more than a few tons, a solution for preventing the damage of the cargo and the damage of the unmanned transportation vehicle due to malfunction of the landing gear .

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide an unmanned vehicle capable of withstanding high loads.

Further, it is an object of the present invention to provide an unmanned vehicle capable of autonomous traveling in a narrow and narrow space.

According to an aspect of the present invention, there is provided an unmanned vehicle comprising: a body having an inner space; a sensor unit provided in the body unit for sensing various states and conditions; A cylinder portion provided in an inner space of the body portion and loaded or unloaded through an upward or downward movement, the cylinder portion being provided in an inner space of the body portion; And a driving unit which is exposed to the lower surface to move the body.

The cylinder portion includes a bottom plate fixed to the body portion, an upper plate spaced apart from the bottom plate by a predetermined distance, a cylinder provided between the bottom plate and the top plate and lifting or lowering the top plate by hydraulic pressure, A shaft disposed between the upper plates to prevent meandering of the upper plate, and a urethane pad provided on the upper plate to minimize damage to the goods loaded on the upper plate.

The driving unit includes a case having a built-in BLDC motor, a pair of urethane wheels provided on both sides of the case to rotate, and a tiltable member connected to the urethane wheel so that the urethane wheel can reach the floor even when the urethane wheel is not flat. And a magnet guide sensor provided on an upper portion of the case to rotate the driving portion to rotate from the body portion and a magnet guide sensor provided on a front surface of the case to track a magnet tape provided on a floor contacting with the driving portion. have.

A bumper disposed on a front surface of the body to protect the body from the impact; a front LED mounted on a front surface of the body to emit light; A switch for operating the radar and the front LED provided in front of the upper surface of the body, a touch control device provided in front of the upper surface of the body for controlling the cylinder, An auxiliary wheel provided in an inner space of the body and exposed to a lower surface of the body to move the body together with the driving unit, A side LED for indicating a direction indication and a status confirmation; I may include a port for an external filling of ever possible.

The sensor unit includes a mark sensor for detecting a current position of the body part, a front / rear truck detection sensor for recognizing the front and rear of the unmanned vehicle, a cylinder position confirmation sensor for confirming a cylinder position of the cylinder part, And an emergency stop detection sensor for emergency stop of the vehicle.

And a controller for controlling the magnet guide sensor, the mark sensor, the front / rear truck detection sensor, and the cylinder position confirmation sensor in connection with the magnet guide sensor, the mark sensor, the front / rear truck sensor, A control board may be further provided.

The control board may be connected to the control board, the front sensing radar, the speaker, and the control PC for controlling the control board, the front sensing radar, the speaker, and the touch-type control device, .

According to the unmanned vehicle according to the present invention, the cylinder portion is provided and can withstand the high load by utilizing the hydraulic pressure.

Further, since the driving shaft is provided with the rotation shaft, the vehicle can travel at a small driving radius in a narrow space.

1 is a perspective view of an unmanned vehicle according to an embodiment of the present invention;
2 is a perspective view showing a cylinder portion of the unmanned conveyance vehicle shown in Fig.
3 is a perspective view illustrating a driving unit of the unattended carrying vehicle shown in FIG. 1;
Fig. 4 is a block diagram showing a control board and a control PC of the unattended carrying vehicle shown in Fig. 1. Fig.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, an unmanned vehicle according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a perspective view of an unmanned conveyance vehicle according to an embodiment of the present invention, FIG. 2 is a perspective view showing a cylinder portion of the unmanned conveyance vehicle shown in FIG. 1, Fig. 4 is a block diagram showing the control board and control PC of the unattended carrying vehicle shown in Fig. 1. Fig.

1 to 4, an unmanned conveyance vehicle 10 according to an embodiment of the present invention includes a body 100, a sensor 200, an equipment 300, a cylinder 400, A driving unit 500 may be provided.

The body part 100 may be provided in a rectangular box shape having an internal space and the sensor part 200, the equipment part 300, the cylinder part 400 and the driving part 500 may be mounted .

The sensor unit 200 is provided in the body 100 to detect various states and surrounding conditions of the unmanned vehicle 10 so that the operator can easily grasp the state of the unmanned vehicle 10 and surrounding conditions can do.

The equipment unit 300 is provided on the body 100 to sense the front of the body 100 and to protect the body 100 so that the unmanned vehicle 10 can operate smoothly can do.

The cylinder part 400 may be provided in the inner space of the body part 100 and may be partly exposed on the upper surface of the body part 100 and may be raised or lowered from the body part 100. It is possible to load the unmanned conveying vehicle 10 or lower the unmanned conveying vehicle 10 by raising or lowering the cylinder part 400. [

The driving unit 500 may be provided in the inner space of the body 100 to partially expose the lower surface of the body 100 to allow the body 100 to move. Here, the driving unit 500 is located in front of the body 100 and can be operated by the all-wheel drive system.

Next, the cylinder part 400 will be described in more detail.

The cylinder 400 may be provided in the inner space of the body 100 and may be partly exposed on the upper surface of the body 100 to be lifted or lowered from the body 100, .

2, the cylinder 400 may include a bottom plate 410, an upper plate 420, a cylinder 430, a shaft 440, and a urea pad 450.

The bottom plate 410 is fixed to the body 100 so that the cylinder 400 is fixed to the body 100. The upper plate 420 is spaced apart from the bottom plate 410 by a predetermined distance . The cylinder 430 is provided between the separated bottom plate 410 and the upper plate 420 so that the upper plate 420 can be raised or lowered from the bottom plate 410 by hydraulic pressure. Here, the cylinder 430 may be raised or lowered by applying a 24 VDC 600 W class double acting hydraulic power pack, and two cylinders 430 each having 500 kgf or more applied thereto may be paired to correspond to a load of 750 kgf.

As described above, by operating the cylinder 430 utilizing the hydraulic pressure, durability, stability and reliability can be ensured, and the maintenance cost and time can be shortened as compared with the electric lift system. Further, when the modification or allowable load increase is required as compared with the electric lift system, only the cylinder 430 needs to be added, so that it is easy to modify or increase the allowable load. In addition, since the configuration module is simpler than the electric lift method, the production period is short and maintenance is easy.

The shaft 440 may be provided between the bottom plate 410 and the upper plate 420 in the same manner as the cylinder 430. The shaft 440 may include a plurality of or more than four shafts 440. When the cylinder 430 is lifted or lowered by hydraulic pressure, An effect of preventing meandering can be exhibited. A plurality of supports (not shown) may be provided between the bottom plate 410 and the top plate 420 to maintain a constant distance between the bottom plate 410 and the top plate 420.

Meanwhile, the urea pad 450 may be provided on the upper plate 420. The urea pad 450 is provided to cover the upper part of the upper plate 420 to prevent the direct contact of the upper part with the upper plate 420 to minimize the damage to the load on the upper plate 420 .

Hereinafter, the driving unit 500 will be described in more detail.

Referring to FIG. 3, the driving unit 500 may include a case 510, a urethane wheel 520, a tilt shaft 530, a rotating shaft 540, and a magnet guide sensor 550.

The case 510 can accommodate a BLDC motor, which can generate hi torques of at least 1.5 times as large as a general DC motor. This enables the motor to be downsized, Can be exercised.

The pair of urethane wheels 520 may be provided on both sides of the case 510 and may rotate to allow the unmanned vehicle 10 to move. The tilt shaft 530 is connected to the urethane wheel 520. The tilt shaft 530 is connected to the urethane wheel 520 so that the urethane wheel 520 can reach the floor even on the uneven surface, The transport vehicle 10 can be moved in a stable manner.

On the other hand, the urethane wheel 520 can not move when the moving space is narrow. In order to solve this problem, the urethane wheel 520 may be provided with a rotating shaft 540 at an upper portion of the case 510. Accordingly, the driving unit 500 can be rotated from the body 100, so that the driving unit 500 can autonomously travel with a small driving radius, so that it can be easily moved even in a narrow space.

The magnet guide sensor 550 may be disposed on the front surface of the case 510 to detect the magnet tape 21 provided on the floor 20 contacting the driving unit 500. The manned vehicle 10 can be steered while the magnet guide sensor 550 senses the magnet tape 21 and follows it.

Although not shown in the drawing, an RFID tag may be attached to each station and each location for monitoring, so that the unmanned vehicle 10 can be moved in a manner recognizing the tag through the FRID reader in the unmanned vehicle 10 . In addition, the unmanned vehicle 10 can be moved in such a manner that the color of the tape attached to the floor 20 is recognized using a camera.

Meanwhile, the driving unit 500 is provided with the handle 560 so that the driving unit 500 can be easily detached from the manned vehicle 10, thereby facilitating replacement and maintenance.

Hereinafter, the equipment unit 300 will be described in more detail.

1, the equipment unit 300 includes a front sensing radar 310, a bumper 320, a front LED 330, an electric panel 340, a switch 350, a touch control unit 360, A speaker 370, an auxiliary wheel 380, a side LED 390, and an external charging port 301. [

The front sensing radar 310 is provided on the front surface of the body part 100 to sense the front of the vehicle body 100. When the unmanned vehicle 10 moves, it collides with another unmanned vehicle 10, It is possible to prevent an accident from occurring.

The bumper 320 is provided on the front of the body part 100 to prevent direct contact of the body part 100 when the vehicle is in collision with another unmanned vehicle 10 or a worker so that the body part 100 is damaged Can be prevented.

The front LED 330 may be provided on the front surface of the body 100 to emit light. The front LED 330 informs the front of the vehicle that the unmanned conveying vehicle 10 is emitting light when moving, thereby preventing an accident such as a collision in advance.

Various devices such as a hydraulic pressure and a battery provided in the internal space of the body part 100 of the electric field panel 340 and provided to the cylinder part 400 are installed to facilitate the operation of the unmanned vehicle 10 have.

The switch 350 may be provided in front of the upper surface of the body 100. Since the height of the body 100 is low, the operator can easily operate the switch 350 and the front sensing radar 310 and the front LED 330 can be operated through the switch 350.

The touch-type control device 360 may be provided in front of the upper surface of the body 100, like the switch 350. The touch-type control device 360 can control the cylinder 400, and can be easily operated by the operator because it is driven in a touch manner.

The speaker 370 is provided behind the upper surface of the body part 100 to notify the surroundings of the status of the unmanned carrying vehicle 10 such as the unmanned carrying vehicle 10 being moving or loading the goods, The occurrence of an accident such as a collision can be prevented in advance.

The auxiliary wheel 380 is provided in the inner space of the body 100 and exposed to the lower surface of the body 100 so that the body 100 can be moved together with the driving unit 500. [ Here, the auxiliary wheel 380 is made of a cylinder urethane and can exhibit the effect of preventing the slip phenomenon.

The side LED 390 may be provided on the side of the body part 100 to indicate the direction and state of the body part 100 so that the state of the vehicle 10 can be easily checked on the side of the body part 100 .

The external charging port 301 may be provided on a side surface of the body 100. By providing the external charging port 301, power for operating the unmanned vehicle 10 can be smoothly supplied from the outside.

Hereinafter, the sensor unit 200 will be described in more detail.

4, the sensor unit 200 may include a mark sensor 210, a front / rear truck detection sensor 220, a cylinder position detection sensor 230, and an emergency stop detection sensor 240 .

The mark sensor 210 is a sensor for detecting the current position of the body part 100. The sensor senses the current state of the current position and determines how far the goods to be loaded are separated, whether the goods can be moved forward or backward, .

The front / rear truck detection sensor 220 recognizes the front and rear of the unmanned vehicle 10 as a sensor for recognizing the front and rear of the unmanned vehicle 10, thereby enabling stable transportation of the goods.

The cylinder position determination sensor 230 may be positioned at a current position of the cylinder 430 of the cylinder 400 or in an internal space of the body 100, It is possible to prevent the occurrence of accidents such as the drop of the logistics due to erroneous operation. Here, the cylinder position confirmation sensor 230 may be provided in association with the touch-type control device 360.

The emergency stop detection sensor 240 senses an unexpected situation in the unmanned vehicle 10, that is, an unexpected foreign object or a shock is applied to the moving route, thereby causing the unmanned vehicle 10 to stop in an emergency . Here, the emergency stop detection sensor 240 can be visually and audibly associated with the front LED 330, the speaker 370, and the side LED 390 of the apparatus section to inform that the unmanned conveying vehicle 10 is in an emergency stop state .

In addition, the sensor unit 200 can perform the functions of driving the left / right motor, operating the status confirmation LED, operating the hydraulic device, and monitoring the voltage.

The control board 600 is connected to the magnet guide sensor 240 of the driving unit 500, the mark sensor 210 of the sensor unit 200, the front / rear truck sensor 220 and the cylinder position sensor 230 Can be connected. The control board 600 may be connected to and control the magnet guide sensor 240, the mark sensor 210, the front / rear truck detection sensor 220, and the cylinder position detection sensor 230.

A control PC 700 for controlling the control board 600 may be connected to the control board 600. The operator can control the control board 600 to control the magnet guide sensor 240, the mark sensor 210, the front / rear truck sensor 220 and the cylinder position sensor 230 by controlling the control PC 700 have.

The control PC 700 is connected to the front sensing radar 310, the speaker 370 and the touch-type control device 360 of the device unit and can be directly controlled by the operator through the control PC 700. [

Although the unmanned conveyance vehicle according to the embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiments disclosed herein. Those skilled in the art, who understands the spirit of the present invention, can readily suggest another embodiment by adding, changing, deleting, or adding elements within the scope of the same idea, but this is also within the spirit of the present invention something to do.

10: unmanned vehicle 20: floor
21: Magnet tape 100: Body part
200: sensor unit 210: mark sensor
220: front / rear truck detection sensor 230: cylinder position detection sensor
240: Emergency stop detection sensor 300: Equipment part
310: Front sensing radar 320: Bumper
330: front LED 340: full length panel
350: Switch 360: Touch-type control device
370: Speaker 380: Auxiliary wheel
390: side LED 301: external charging port
400: cylinder part 410: bottom plate
420: top plate 430: cylinder
440: shaft 450: urethane pad
500: driving part 510: case
520: Urethane wheel 530: Tilt shaft
540: rotating shaft 550: magnetic guide sensor
560: handle 600: control board
700: Control PC

Claims (7)

A body portion having an internal space,
A sensor unit provided in the body unit for sensing various states and conditions,
An equipment part provided on the body part for detecting the front part of the body part and protecting the body part,
A cylinder portion provided in an inner space of the body portion and loaded or unloaded through an upward or downwardly exposed portion of the body portion,
A driving unit provided in an inner space of the body and exposed to a bottom surface to allow the body to move;
A bottom plate provided on the cylinder portion and fixed to the body portion,
An upper plate spaced apart from the bottom plate by a predetermined distance,
A cylinder which is provided between the bottom plate and the top plate and which raises or lowers the top plate by hydraulic pressure,
A shaft provided between the bottom plate and the top plate to prevent meandering of the top plate,
And an urethane pad provided on an upper portion of the upper plate to minimize damage to the logistics loaded on the upper plate,
The sensor unit may include a mark sensor that detects a current position of the body unit,
A front / rear vehicle detection sensor for recognizing the front and rear of the unmanned vehicle,
A cylinder position confirmation sensor for confirming the cylinder position of the cylinder portion,
And an emergency stop detection sensor for emergency stop of the unmanned conveyance vehicle.
The method according to claim 1,
The driving unit includes a case having a built-in BLDC motor,
A pair of urethane wheels provided on both sides of the case and rotating,
A tilt shaft connected to the urethane wheel so that the urethane wheel can reach the floor even when the urethane wheel is uneven,
A rotating shaft provided on the case to rotate the driving unit from the body,
And a magnet guide sensor provided on a front surface of the case to track a magnet tape provided on a floor in contact with the driving unit.
3. The method of claim 2,
The apparatus includes a front sensing radar provided on a front surface of the body portion and sensing a front portion,
A bumper provided on a front surface of the body part to protect the body part from a collision,
A front LED provided on a front surface of the body for emitting light,
An electric field panel provided in an inner space of the body part,
A switch provided in front of the upper surface of the body portion to operate the radar and the front LED,
A touch-type control device provided in front of the upper surface of the body part to control the cylinder part,
A speaker provided behind the upper surface of the body for transmitting the state of the body,
An auxiliary wheel provided in an inner space of the body and exposed to a lower surface thereof to move the body together with the driving unit;
A side LED provided on a side surface of the body portion for displaying a direction indication and a status confirmation,
And an external charging port provided on a side surface of the body for charging from the outside.
The method of claim 3,
And a controller for controlling the magnet guide sensor, the mark sensor, the front / rear truck detection sensor, and the cylinder position confirmation sensor in connection with the magnet guide sensor, the mark sensor, the front / rear truck sensor, And further comprising a control board.
5. The method of claim 4,
The control board is connected to the control board, the front sensing radar, the speaker, and the touch control device to connect the control board, the front sensing radar, the speaker, and the control PC for controlling the touch control device Features unmanned vehicle.











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