KR0185100B1 - Object sensing device of agv - Google Patents

Abstract

The present invention relates to an apparatus for detecting a cargo (carried goods) loaded in an unmanned vehicle in an unmanned transport vehicle for transporting a large disk, such as an automobile press processing production line, the apparatus is to load the cargo on the upper surface of the unmanned transport vehicle (14) Install a plurality of angle support (25) for supporting and attach the insulating member 52 to the upper surface of the angle support, and then attach the electrodes (51-1 to 51-10) of a predetermined width on both ends on the insulating member When a cargo loaded by applying a predetermined voltage to the electrode is placed between the two electrodes, current flows through the cargo to detect the cargo.

Description

An apparatus for detecting freight in an AGV

The present invention relates to an apparatus for detecting a cargo (carried goods) loaded on the unmanned vehicle in an unmanned vehicle for transporting a large disc such as an automobile press processing production line.

In general, an unmanned transportation system used in an automation system such as a logistics system and an automatic production system includes an unmanned vehicle main computer 11 and a control panel 12 that control driving of the entire unmanned vehicle as shown in FIG. 1. ), The unmanned vehicle ground control panel 13 for transmitting / receiving with an unmanned vehicle, an unmanned vehicle (AGV: 14), a guide line (17), a work station, and the like, and the main computer 11 is unmanned. The unmanned vehicle moves along the guide line and pauses at the work station by the radio transmitter of the vehicle ground control panel, and loads parts, materials, and products. In addition, an address mark (mark: 16) is displayed on a guide path in which the driverless vehicle travels in such an unmanned vehicle, and the mark reader 15 of the driverless vehicle reads it to determine the current position.

Here, the unmanned vehicle 14 communicates between the radio transmitter / receiver of the onboard control panel and the radio transmitter / receiver of the ground control panel, moves along the guide line to the destination station according to the instruction of the control computer, and an address mark installed in the unmanned vehicle 14 The reader 15 detects the magnetic field generated from the address mark 16 installed in the floor and reaches the correct position of the designated station. When the unmanned transport vehicle arrives at the designated work station as described above, the loading device of the work station loads the cargo in the unmanned transport vehicle, and the transfer device transfers the cargo transported by the unmanned transport vehicle. And there is a beam sensor in the loading device or the transfer device and the unmanned vehicle so that the unmanned vehicle can be accurately positioned in the right position, and the load angle of the unmanned vehicle has a cargo sensing device to detect the cargo loaded in the unmanned vehicle.

However, in the conventional cargo detecting apparatus, as shown in FIG. 4, sensors 41-1 to a plurality of angles 42 are mounted on the upper surface of the unmanned vehicle to detect an object on a cargo loading angle to load the cargo. 41-10: Implemented as proximity sensor or limit sensor) installed in several places, if the cargo is placed on the angle, the proximity sensor or limit sensor detects this, and analyzes the detected signals to monitor the cargo size and loading status .

For example, as shown in FIG. 4, when 13 angle pedestals are configured to support a load, and limit sensors are installed at both ends of the third, fifth, seventh, ninth, and eleventh angles, the first load 21 ), The first to fourth limit sensors 41-1 to 41-4 detect this, and when the second cargo 22 is placed, the seventh to tenth sensors 41-7 to 41-10 detect this. Will be detected. And the fifth sensor (41-5) and the sixth sensor (41-6) does not detect the cargo. Therefore, when analyzing the condition of the cargo detected by each sensor, it can be seen that the two disks are placed on the cargo loading angle. If a large disc, such as the third cargo 23, is placed on the angle, the first to tenth limit sensors 41-1 to 41-3 all detect the object, thereby analyzing the state of the cargo detected by each sensor. You will see this. At this time, the limit sensor installed on the angle should be properly arranged by the worker in consideration of the size and type of cargo to be loaded. And since the sensors installed at both ends of the angle are movable, it moves properly according to the size of the cargo.

However, in the conventional cargo detection device using such a limit sensor or proximity sensor, if there is a hole or groove in the loaded cargo, the limit sensor or proximity sensor did not detect the cargo, and if the size of the cargo is small, the position of the sensor is detected. It was inconvenient because I had to change it frequently. In order to solve this problem, the sensor cost increased because dozens of limit sensors or proximity sensors had to be installed to detect cargo.

Moreover, since the items produced in the press line of the automobile press factory are various, according to the size and type of cargoes, it is difficult to detect this by a limit sensor. And when the proximity sensor or limit sensor breaks down, it takes a lot of time to repair, causing huge disruption to the production cycle time in the automobile production line.

Accordingly, an object of the present invention is to provide a cargo detecting apparatus for an unmanned vehicle that can detect a cargo regardless of the shape of the cargo in order to solve the above problems.

In order to achieve the above object, the present invention, by installing a plurality of angle support for supporting the cargo on the upper surface of the unmanned vehicle, and attaching the insulation member on the upper surface of the angle support, a predetermined width on both ends on the insulation member When the electrode is attached and a predetermined voltage is applied to the electrode, the loaded cargo is placed between the two electrodes, the current flows through the cargo so that the cargo can be detected.

As described above, the present invention can easily detect a disc, such as a perforated plate, by detecting a cargo by an electrode installed on the angle support, and has an advantage of low cost for installing a sensor.

1 is a configuration diagram of a general unmanned vehicle system,

2a is a plan view of the case where two cargoes are loaded in an unmanned transportation vehicle,

2b is a side view when two cargoes are loaded in an unmanned transportation vehicle,

2c is a side view when one cargo is loaded in an unmanned transportation vehicle,

2d is a front view when the cargo is loaded in the unmanned transportation vehicle,

3a is a plan view of the unmanned transportation vehicle carrying the cargo stopped in front of the transfer device,

Figure 3b is a side view of the unmanned vehicle loaded with cargo,

3c is a flowchart illustrating a process of transferring a cargo loaded in an unmanned vehicle.

3d is a front view of the case where the vehicle is stopped at the transfer device to transfer the cargo loaded in the driverless vehicle,

4 is a view showing a device for detecting the cargo according to the conventional method when loading the cargo in the unmanned vehicle,

FIG. 5 is a diagram illustrating an apparatus for detecting cargo according to the present invention when loading cargo in an unmanned transportation vehicle.

* Explanation of symbols for main parts of the drawings

11: main computer 12: control panel

13: unmanned vehicle ground control panel 14: unmanned vehicle

15: Mark reader 16: Address mark

17: guide line 21, 22, 23: cargo

25: angle support 31: ground cutting equipment

32: fork 33: beam sensor

41-1 to 41-10: object detecting sensor 51-1 to 51-10: electrode

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a configuration diagram of a general unmanned transportation system, when the main computer 11 transmits a command to the control panel 12 via RS-232C, the control panel 12 is an unmanned vehicle ground control panel 13 through RS-232C. And the unmanned vehicle ground control panel 13 transmits a command through a radio transmitter. The unmanned vehicle 14 receives the command of the main computer 11 through the wireless receiver, moves to the station indicated by the main computer, loads the cargo, and transfers the cargo to the destination through the wireless transmitter of the onboard control panel of the unmanned vehicle. The host computer 11 informs the result of the movement and the completion status of the cargo loading. The main computer 11 grasps the state of the press working machine and the loading of cargo and informs the unmanned transportation vehicle. The unmanned transport vehicle 14 moves to the transfer device via the guide line 17, and detects the magnetic field generated from the exact position address mark 16 installed on the floor by the mark reader 15 installed in the unmanned transport vehicle. To reach the correct position of the ground transfer device by finding the correct position by the beam sensor (33).

2A and 2B show a case in which two cargoes are loaded in an unmanned transportation vehicle, and show that two cargoes 21 and 22 are placed on an angle support 25. 2C is a side view when one cargo 23 is loaded in an unmanned transportation vehicle, and FIG. 2D is a front view when cargo is loaded in an unmanned transportation vehicle. As shown in Fig. 2a to 2d, the angle stand 25 for loading the cargo on the top of the driverless vehicle is erected, and one or two cargoes are loaded on the pedestal. The reason for the installation of the angle butt is that the loading device uses a fork to lift the load when the load is loaded.

Figure 3a is a plan view when the unmanned transport vehicle loaded with cargo stopped in front of the transfer device, Figure 3b is a side view of the unmanned transport vehicle loaded with cargo, Figure 3c is a job showing a process of transferring the cargo loaded in the unmanned vehicle FIG. 3D is a front view of the case where the vehicle is stopped in front of the ground loading apparatus to transfer the cargo loaded in the driverless vehicle. As shown in Figures 3a to 3d, when the cargo loaded in the driverless vehicle is one of the large disc to carry out 12 forks come out of the transfer device to lift the cargo, in the case of two discs six forks Move alternately to transfer the cargo. At this time, the order in which the transfer device transfers the cargo loaded in the driverless vehicle is a procedure in which the fork is moved forward as shown in FIG. 3C and the cargo is lifted up, and then the fork is moved backward and down (A-B-C-D).

FIG. 5 is a diagram illustrating an apparatus for detecting a cargo according to the present invention when loading or transferring cargo in an unmanned transportation vehicle.

Referring to FIG. 5, thirteen angle supports 54 are installed on the top surface of the driverless vehicle to facilitate the use of a fork, and an insulating member 52 is attached to the top of each angle. The C-shaped electrode plates 51-1 to 51-10 are inserted to the left and right sides of the insulating member, and the two electrode plates are separated from each other and are insulated from each other. The insulating members 52 are also insulated between the electrode plates and the angles. Maintain it. At this time, one electrode terminal is a common ground line (common terminal), and a negative or positive voltage is applied, and the other electrode terminal is separately divided, and a positive or negative voltage (a common terminal and an opposite potential) is applied.

In such a state, a conductive circuit is placed on the angle support, and a closed circuit is formed between the two electrodes so that a current flows. Accordingly, the cargo can be detected for each electrode terminal by detecting this.

As shown in FIG. 5, when 13 angle pedestals are configured to support a load, and electrodes are provided at both ends of the third, fifth, seventh, ninth, and eleventh angles, when the first cargo 21 is placed, The first to fourth electrodes 51-1 to 51-4 are shorted to form a closed circuit, and when the second cargo 22 is placed, the seventh to tenth electrodes 51-7 to 51-10 are shorted to a closed circuit. Is formed. The fifth and sixth electrodes 51-5 and 51-6 do not detect cargo. Therefore, analyzing the state of the cargo detected by each electrode, it can be seen that the two discs are placed on the angle support. If a large disc such as the third cargo 23 is placed on the angle, the first to tenth electrodes 51-1 to 51-10 are shorted to form a closed circuit, thereby analyzing the state of the cargo detected by each electrode. You will see this.

Here, the electrodes 51-1 to 51-10 installed on the angles should be properly arranged by the operator in consideration of the size and type of the cargo to be loaded. However, the electrodes may be installed at all angles because the cost is low. . And since the electrode takes up much more space than the limit sensor, any shape of cargo can be easily detected by the electrode.

As described above, since the cargo is detected by the electrode installed on the angle support according to the present invention, any shape of cargo, such as a perforated disc, can be easily detected as long as it is a conductor, and the electrode plate is used as a sensor. Therefore, the installation cost is also inexpensive.

Claims (1)

After installing a plurality of angle support 25 to support the cargo on the upper surface of the unmanned vehicle 14 and attaching the insulating member 52 on the upper surface of the angle support, the electrode of a predetermined width on both ends on the insulating member ( 51-1 to 51-10) and a predetermined voltage applied to this electrode, when the loaded cargo is placed between the two electrodes, the current sensing device of the unmanned transportation vehicle to detect the cargo by flowing current through the cargo .