KR101644270B1 - Unmanned freight transportation system using automatic positioning and moving route correcting - Google Patents

Unmanned freight transportation system using automatic positioning and moving route correcting Download PDF

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Publication number
KR101644270B1
KR101644270B1 KR1020150067802A KR20150067802A KR101644270B1 KR 101644270 B1 KR101644270 B1 KR 101644270B1 KR 1020150067802 A KR1020150067802 A KR 1020150067802A KR 20150067802 A KR20150067802 A KR 20150067802A KR 101644270 B1 KR101644270 B1 KR 101644270B1
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South Korea
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unmanned
robot
transfer robot
unmanned freight
transfer
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KR1020150067802A
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Korean (ko)
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김용태
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한경대학교 산학협력단
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling

Abstract

According to the present invention, there is provided an unmanned freight transportation system which includes an unmanned freight transportation robot which travels along a preset moving route (C) on site (W). The unmanned freight transportation robot receives a control signal including a work instruction to establish a transportation work plan of the robot and sequentially reads out a plurality of land marks (M) spaced apart from each other along a moving route (C) to extract mark position information. The unmanned freight transportation robot travels to a destination(G) along the moving route (C) according to a set plan while confirming the current position based on the extracted mark position information. When the robot moves along the route between the land marks (M) and deviates from the moving route (C), the robot extracts position information by using a wireless signal transmitted from another unmanned freight transportation robot, the current position of which is confirmed on site (W), to confirm the current position based on the extracted position information, and corrects the transportation work plan. Then, the robot moves along the corrected moving route (C).

Description

TECHNICAL FIELD [0001] The present invention relates to an unmanned cargo transportation system using automatic positioning and path compensation,

The present invention relates to an unmanned cargo transfer robot and an unmanned cargo transfer system using automatic positioning and path correction, and more particularly, to an automatic unmanned cargo transfer robot and an unmanned cargo transfer system using automatic positioning and path correction, The present invention relates to an unmanned freight transfer robot and an unmanned freight transfer system using the same.

Recently, many domestic companies have introduced various logistics systems to maximize profits and increase efficiency in logistics management. As the interest and necessity of logistics technology increases, studies on related fields such as logistics transportation, city logistics, automation, efficiency, environment friendly technology and unmanned technology are actively being carried out. Especially, AGV (Automatic Guided Vehicle) has become an important factor for determining productivity.

For autonomous navigation of such an unmanned transfer robot, it is necessary to first grasp the self-position in real time and follow the set travel route accordingly. Although induction methods such as Magnet-Gyro Guidance and Wire Guidance have been used as typical methods, it is difficult to change the working environment flexibly depending on the purpose because of high cost for installation and maintenance There was a problem.

In addition, when the unmanned transfer robot slides on the moving wheels while moving along the moving path, or when the traveling direction is unintentionally changed due to the contact with the surrounding obstacle, the traveling path deviates from the moving path. However, Not only the location is restricted but also the position control for returning to the moving path is complicated, resulting in a serious problem in the operation of the robot.

In addition, a method using a GPS signal may be applied to identify the departed location, but application is limited because reception of the GPS signal is restricted when the workplace is built in the room.

Open Patent Publication No. 2012-0090402 (Aug. 17, 2012), an unmanned transfer system of a cremation vehicle using a laser.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide a landmark distributed and arranged in a workplace, And to provide an unmanned cargo transfer robot and an unmanned cargo transfer system using automatic positioning and path correction capable of simplifying a control algorithm.

It is another object of the present invention to provide an automatic landing position control method and a landing position control method capable of performing more precise running control in the course of moving between landmarks, And an unmanned cargo transfer robot using the path correction and an unmanned cargo transfer system.

To accomplish the above object, an unmanned freight transfer robot for traveling along a predetermined movement path (C) in a workshop (W) and transferring the loaded freight, comprising: a control signal And sequentially extracts a plurality of landmarks (M) spaced apart along the movement path (C) to extract mark position information. The extracted mark position information is used as the current position (C) to the destination (G), and when the route between the landmarks (M) is moved or when the route is departed from the route (C) (C) to correct the transfer operation plan by extracting the positioning information using the radio signal received from another unmanned freight transfer robot whose current position is confirmed and confirming the current position with the extracted positioning information, As shown in FIG.

Here, the unmanned freight transfer robot takes an image of the bottom surface 10 of the work site W and analyzes the image thus obtained to analyze the image of the bottom line 10 formed on the bottom surface 10 of the work site W, Extracts a bottom line straight line AB matching the moving direction of the robot from the shape of the recognized bottom line L and recognizes the shape of the extracted bottom line straight line AB as a distance between the extracted bottom line straight line AB and the moving direction Can be moved along the movement path (C) while correcting the traveling direction with the error information that has been obtained by calculating the inclination angle (?) And the lateral distance (d).

Also, the unmanned freight transfer robot may extract current positioning information by applying a positioning technique using Received Signal Strength Indication (RSSI) received from a plurality of different unmanned freight transfer robots.

Also, the unmanned freight transfer robot applies a trilateration positioning technique for calculating distances from a plurality of other unmanned freight transfer robots using a propagation attenuation model of signals, The current positioning information can be extracted.

In addition, the unmanned freight transfer robot measures the signal strength transmitted from each unmanned freight transfer robot in advance and stores it in a memory. When the signal strength value received from an arbitrary unmanned freight transfer robot is transmitted, It is possible to extract the current positioning information by using a fingerprint positioning method of reading the position information corresponding to the position information from the memory and estimating the position.

To achieve the above object, an unmanned freight transfer robot according to the present invention is a unmanned freight transfer robot that travels along a predetermined movement path (C) in a work area (W) and transfers a loaded freight, A control unit for receiving the control signal and establishing a transfer operation plan of the robot and successively reading a plurality of landmarks M spaced apart along the movement path C to extract mark position information, The image of the bottom surface 10 of the workshop W is captured through the image analysis of the image obtained by the running route C to the destination G, Recognizes the shape of the bottom line L extending in the form of a lattice on the bottom surface 10 of the robot W and extracts a bottom line straight line AB matching the moving direction of the robot from the recognized shape of the bottom line L , And the extracted bottom line straight line (AB) Can be moved along the movement path (C) while correcting the traveling direction to the error information which is obtained by calculating the angle of inclination (?) And the lateral distance (d) between the moving direction and the moving direction.

In order to achieve the above object, the unmanned freight transfer system is configured to move along a predetermined movement path (C) in the workshop (W) and to transfer the loaded freight, , Sequentially reads a plurality of landmarks (M) spaced apart along the movement path (C), extracts mark position information, and checks the current position with the extracted mark position information, A plurality of unmanned freight transfer robot (100) traveling along a movement path (C) to a destination (G); And a host terminal (200) for outputting a control signal including a cargo transfer work instruction for each unmanned freight transfer robot through a wireless communication network, wherein each unmanned freight transfer robot moves the route between each landmark (M) When the route is departed from the movement route (C), the positioning information is extracted using the radio signal output from another unmanned freight transfer robot whose current position is confirmed in the workshop (W), and the current position is confirmed by the extracted positioning information It is possible to move along the movement path C while correcting the transfer operation plan.

In order to achieve the above object, an unmanned freight transfer system includes a plurality of landmarks M spaced apart along each movement path C in a workplace W; (C) in the workshop (W) and carries the loaded cargo, receives the control signal to establish a transfer operation plan of the robot, The landmark M is successively read out to extract mark position information and the unmanned cargo traveling along the movement route C to the destination G in accordance with the transport schedule established while confirming the current position with the extracted mark position information A transfer robot 100; And a host terminal 200 for outputting a control signal including a cargo transfer work instruction for each unmanned freight transfer robot 100 through a wireless communication network, wherein the unmanned freight transfer robot 100 includes a work station W Recognizes the shape of the bottom line L extending in the form of a lattice on the bottom surface 10 of the workshop W through the image analysis of the obtained image by photographing the bottom surface 10 of the bottom line L, (AB) matching the moving direction of the robot is extracted from the shape of the bottom line line (AB) and the moving direction of the robot (L), and the slope angle (?) And the side distance It is possible to move along the movement path C while correcting the traveling direction to each calculated error information.

The bottom line L is a line formed by laterally assembling a plurality of rectangular bottoms constituting the bottom surface 10 of the work W and the landmark M is a line formed on the moving path C, And may be disposed at the intersection of the bottom line L.

According to the unmanned freight transfer robot and the unmanned freight transfer system using the automatic positioning and path correction according to the present invention, the landmarks M distributed and arranged along the movement path C in the workshop W are sequentially read out By following the movement route while checking the current position with the extracted mark position information, it is possible to greatly reduce the installation and maintenance of the system, flexibly change the working environment according to the purpose, and simplify the control algorithm.

Also, it is possible to confirm the current position using a radio signal received from another unmanned freight transfer robot, analyze the bottom surface 10 of the work space W, By calculating the error information with respect to the moving direction, it is possible to control the travel more precisely than when the route between the landmarks M is moved, thereby preventing the deviation of the route. The slippage of the moving wheel or the contact with the surrounding obstacle It is possible to grasp the position even if it is departed, and it is easy to return to the movement route (C).

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view showing the construction of an unmanned freight transfer system according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view showing a state in which a landmark and an unmanned freight transfer robot are disposed in a workplace according to a preferred embodiment of the present invention,
3 to 6 are a perspective view, a front view, a side view, and a photograph of a configuration of an unmanned freight transfer robot according to a preferred embodiment of the present invention,
FIG. 7 is a block diagram illustrating a functional configuration of an unmanned freight transfer robot according to a preferred embodiment of the present invention.
FIG. 8 is a flow chart for explaining the operation principle of the unmanned freight transfer robot according to the preferred embodiment of the present invention,
FIG. 9 and FIG. 10 are schematic views and photographs for explaining the operation principle of the unmanned freight transfer robot according to the preferred embodiment of the present invention, in which the traveling direction is corrected using the bottom line formed on the floor of the workplace.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

The unmanned freight transport system using the automatic positioning and path correction according to the preferred embodiment of the present invention can be implemented by installing and maintaining the system by following the movement path C with the landmark M distributed and arranged on the work site W. [ An embodiment of the present invention will now be described with reference to an auxiliary means for confirming the current position of the unmanned cargo transfer robot 100. In this embodiment, Will be described separately.

First, the unmanned freight transport system according to the first preferred embodiment of the present invention is configured to transmit positioning information (hereinafter, referred to as " positioning information ") using radio signals transmitted / received between each unmanned freight transfer robot 100, 1 and 2, a plurality of unmanned cargo transfer robots 100 running along a movement path C respectively set in a workplace W, as shown in FIG. 1 and FIG. 2, And a host terminal 200.

Here, the unmanned conveying robot 100 is an unmanned conveyance vehicle that travels along a predetermined movement path C in the worksite W and carries the loaded cargo. The unmanned conveying robot 100 includes a control signal output from the host terminal 200, And sequentially extracts a plurality of landmarks (M) spaced apart along the movement path (C) to extract mark position information. The extracted mark position information is used as the current position And then travels along the route C to the destination G in accordance with the transport schedule established.

3 to 7, there is shown a configuration of an unmanned freight transfer robot 100 according to a first preferred embodiment of the present invention. Referring to the drawings, the unmanned freight transfer robot 100 includes a main body 110, a wheel driving unit 120, a sensor unit 130, a lifting unit 140, a main control unit 160, and a motion control unit 170 .

The main body 110 is a frame structure for providing a base so that each component can be placed or mounted thereon. A casing 111 for covering each component from the outside is mounted, and the outer shape of the casing 111 But the present invention is not limited thereto, and may be formed in various shapes such as a circle, an ellipse, a triangle, and a pentagon.

The wheel drive unit 120 is a power source that provides a driving force for moving the UIL 100 and includes wheel parts 121 and 124 that are rotatably mounted on both sides of the main body 110, And a drive motor 122 for providing the driving force necessary for rotating and steering.

Here, the wheel drive unit 120 is designed in a three-degree-of-freedom configuration that allows the main body 110 to translate and rotate in a plane, and the main body 110 Or a three-degree-of-freedom motion of the present invention may be realized.

The wheels 121 and 124 include two driving wheels 121 disposed at both sides of the center of the main body 110 and rotated by receiving the rotational force of the driving motor 122, And the auxiliary wheel 124 which rotates together with the rotation of the main body 121 and stably supports the main body 110.

The wheel shaft 121a of the drive wheel 121 and the motor shaft 122a of the drive motor 122 are connected to be driven by the drive belt 123 so that the rotational force of the drive motor 122 is transmitted to the drive wheels And the driving motor 122 drives the driving wheel 121 in accordance with a control signal from the motion controller 170.

The sensor unit 130 is a sensing means for reading the landmark M disposed on the movement path C and detects an obstacle or other unmanned material moving robot 100 mounted on the main body 110, And a main camera 132 for photographing an image of a landmark M disposed on the movement path C. The main camera 132 is provided with an obstacle detection sensor 131,

The obstacle detection sensor 131 includes an ultrasonic sensor 131a disposed at the front and rear of the main body 110 and recognizing an obstacle located at a short distance from the main body 110, And an LRF sensor 131b for recognizing an obstacle.

The landmark M is disposed on the movement path C as shown in FIG. 2. The landmark M is a target to be detected, which is disposed for each position, Includes path position information for moving to the next landmark (M) on the movement path (C), including absolute position information of the position where the first landmark (M) is located.

Here, the landmark M may be an optical code image such as a QR code image or a bar code, and may be an electronic recognition chip such as RFID and NFC, an eye mark, or the like. In addition, Various sensors which can be installed on the movement path C in the technical field and can be sensed by the sensing means can be used. Hereinafter, an embodiment will be described in which the landmark M is a QR code image.

Further, the landmark M may be disposed on the floor surface 10 on the movement path C as shown in the drawing, or may be disposed vertically on the wall surface or the lower position of the surrounding object. The main camera 132 is disposed below the main body 110 when the landmark M is disposed on the floor surface 10 and is arranged to photograph downwardly and the landmark M is disposed on the side It is preferable to be disposed in front of the main body 110 and to shoot toward the front.

In this case, if the landmark M is an electronic recognition chip, an electronic recognition reader may be used instead of the main camera 132. In addition, various sensing means may be used depending on the type of the sensing body or the recognition method.

As described above, the installation and maintenance costs can be reduced by using the landmark (M), which is resistant to contamination and damage and has a QR code image with high recovery rate characteristics when damaged, as a means of location recognition. In addition, by inputting the current position information into the landmark M, it becomes easy to recognize the current position of the unmanned hall transport robot 100 and to correct the position thereof, and also to the landmark M, It is possible to input a large amount of data necessary for driving the unmanned cargo transfer robot 100, such as the positional information of the mark M, etc., thereby realizing an effect of more precise driving control.

The main control unit 160 establishes a transfer operation plan of the unmanned cargo transfer robot 100 according to the image processing result of the image information received from the main camera 132 and transmits the position information included in the landmark M The present position of the unmanned cargo transfer robot 100 is corrected to establish a work plan of the unmanned cargo transfer robot 100 and the next landmark on the movement path C included in the landmark M The work plan of the unmanned cargo transfer robot 100 can be established based on the position information of the unmanned cargo transfer robot 100. [

The sensor unit 130 may include a front camera 133 disposed in front of the main body 110 to capture a front image. The front image is an image to be used for avoiding an obstacle disposed on the movement path C of the robot 100. The main controller 160 controls the image processing result of the image information received from the upper camera 134 The motion control unit 170 sets the operation plan of the unmanned cargo transfer robot 100 based on the image information of the front camera 133 according to the operation plan of the main control unit 160, Thereby generating a control signal capable of running while avoiding obstacles.

3 to 6, the lifting unit 140 is disposed at an upper portion of the main body 110 and is lifted up and down to lift the cargo. And a supporting plate 142 mounted on the upper end of the lift driving unit 141 and supporting the lower surface of the cargo.

Here, the lift driving unit 141 may be constructed of a power transmission structure using a common hydraulic or pneumatic actuator, a combination of a driving motor and a gear, and an X-shaped lifting frame moving up and down. The present invention is not limited to this, and various arrangements are possible which can elevate the cargo 10 by a control signal. The lift driving unit 141 drives the support plate 142 up and down according to a control signal of the motion control unit 170.

In addition, the main control unit 160 analyzes the image information photographed by the landmark (M) and stores position information included in the landmark (M) And establishes a transfer operation plan of the robot 100 to travel to the destination G along the movement route based on the read position information.

In addition, the main control unit 160 is configured to perform the motion planning, the image processing, and the data processing of the LRF sensor 131b using the Linux-based embedded board.

The motion controller 170 is a control means for generating a control signal for controlling the motion of the apparatus in accordance with the transfer operation plan of the main controller 160. The controller 170 controls the motor control and the lifting control And a control signal for controlling the movement of the transfer robot 100 while performing balance control.

The motion controller 170 processes real-time motor control and sensor values using a Cortex-M3 processor based on ARM Co., and communicates with the application of the host terminal 200 in real time to monitor status, And command transmission are possible, but the present invention is not limited thereto. In addition, the motion controller 170 includes a sensor interface, and transmits a result detected by each sensor to the main controller 160.

The host terminal 200 can use a conventional PC as a device for outputting a control signal including a cargo transfer work instruction for each unmanned freight transfer robot 100 through a wireless communication network so that an administrator can instruct cargo transportation .

Here, the host terminal 200 is provided with display means such as a monitor, a speaker, and a lamp so that the operating state, the operation state, and the position information of each of the unmanned storage cargo transfer robot 100 can be externally displayed, It is preferable to intuitively be provided so as to be able to confirm the state of freight transportation by the unmanned freight transfer robot 100. [

Next, the operation principle of the unmanned freight transport system according to the first preferred embodiment of the present invention will be described with reference to FIG. 2 and FIG.

2, when the route C from which the locking device 100 travels is a route starting from the starting position and moving to the destination G via the four landmarks M, The host terminal 200 transmits a control signal including a cargo transfer work instruction to the relevant transfer robot 100 using wireless communication.

Subsequently, the transfer robot 100 receiving the control signal from the host terminal 200 through the wireless communication unit 150 establishes a work plan of the transfer robot 100 according to the control signal received by the main control unit 160 The motion controller 170 generates a control signal for controlling the movement of the transfer robot 100 according to the operation plan of the main controller 160 and transmits the control signal to the wheel driver 120 and the sensor unit 130, 100 are moved toward the first landmark M at the starting position. At this time, the obstacle detection sensor 131, the main camera 132, and the front camera 133 provided in the sensor unit 130 are operated to capture images of the surrounding image and the floor surface, acquire image information, The sensor value is detected.

Thereafter, when the conveying robot 100 continues to move and no obstacle is detected, the first landmark M is moved. When the obstacle is detected on the movement route C, Temporarily stops the movement of the transfer robot 100 and waits for a predetermined time. Thereafter, when the obstacle disappears on the route, the movement is resumed, and if the obstacle is continuously present, the travel robot 100 is moved to the detected route by searching for another route.

Then, when the first landmark M is recognized in the image information acquired by the main camera 132, the main control unit 160 determines whether or not the first landmark M is detected based on the position information included in the first landmark M The work plan of the transfer robot 100 is corrected by correcting the current position of the robot 100. When the position information of the next landmark M on the movement route is included in the landmark M, .

The transfer robot 100 that has passed through the fourth landmark M by repeating such obstacle detection, landmark (M) recognition, and position correction procedures is operated based on the position information included in the fourth landmark (M) And is controlled so as to be stably moved to the destination G by the motion control unit 170. [

In the unmanned conveying robot 100 according to the first preferred embodiment of the present invention, when the route between the landmarks M is moved or when the route is departed from the route C, Extracts the positioning information using the radio signal output from the other unmanned freight transfer robot 100 and confirms the current position with the extracted positioning information and moves along the movement path C while correcting the transfer operation plan.

2, the main control unit 160 of the transfer robot 100a includes a plurality of transfer robots 100b, 100c, 100d, and 100d, (RSSI) received from a mobile station, and extracts the current positioning information by using the received positioning information. Then, based on the extracted positioning information, Plan can be calibrated.

Further, the main control unit 160 uses a propagation attenuation model of signals to calculate distances from a plurality of different unmanned freight transfer robots, and estimates the positions of the plurality of different unmanned freight transfer robots using a trilateration positioning technique, The positioning information can be extracted.

In addition, the main control unit 160 measures the signal intensity transmitted from each unmanned freight transfer robot 100 in advance and stores it in the memory. Then, the signal intensity value received from the arbitrary unmanned freight transfer robot 100 And when it is transmitted, the current location information may be extracted using a fingerprint positioning method of reading the location information corresponding to the signal strength value from the memory and estimating the location.

Here, when the main control unit 160 is positioned by using the radio signals of the other transporting robots 100, it may be restricted to extract the positioning information when the transfer robot 100 is not nearby or the quantity is insufficient. As shown in FIG. 2, the unmanned cargo transfer system according to the first preferred embodiment of the present invention is distributed in the work space W and has respective positional information. The unmanned cargo transfer system includes a wireless communication network such as the transfer robot 100, And a wireless AP module 400 for outputting the wireless AP module 400.

Therefore, each of the transporting robots 100 can extract the current positioning information in the same manner as described above by using the radio signal of the other moving robot 100 located nearby and the radio signal of the radio AP module 400 have. Here, although one wireless AP module 400 is illustrated in the drawing, it is preferable that a plurality of wireless AP modules 400 are distributed and arranged in consideration of the size of the work area W and the coverage area.

Next, an unmanned freight transport system according to a second preferred embodiment of the present invention will be described with reference to FIGS. 9 and 10. FIG.

The unmanned cargo transfer system according to the second preferred embodiment of the present invention analyzes an image photographed on the floor surface 10 of the work station W to confirm the current position of the transfer robot 100, A system for extracting error information and correcting a traveling direction based thereon, the system comprising: a plurality of landmarks (M) spaced apart along each movement path (C) in a work space (W) The robot car travels along the movement route C and receives the control signal to establish a transfer operation plan of the robot and successively reads each landmark M spaced apart along the movement route C The unmanned cargo transfer robot 100 that extracts mark position information and travels to the destination G along the movement path C according to the established transfer plan while confirming the current position with the extracted mark position information, Each unmanned cargo It is provided, including a host terminal 200 that outputs the control signal including the cargo transfer indicated by the robot 100.

Here, since the main functions of the landmark M, the transfer robot 100, and the host terminal 200 of the unmanned freight transfer system according to the first preferred embodiment of the present invention are the same, the duplicated description will be omitted .

9 and 10, the transfer robot 100 according to the second preferred embodiment of the present invention takes an image of the bottom surface 10 of the workshop W and analyzes the acquired image The shape of the bottom line L extending in the form of a lattice is recognized on the bottom surface 10 of the work station W and the direction of movement of the conveying robot 100 And extracting a bottom line straight line AB that matches the extracted bottom line AB and a lateral direction distance d between the extracted bottom line straight line AB and the moving direction, And moves along the movement path (C) while being corrected.

More specifically, the main control unit 160 analyzes images of the floor surface 10 photographed by the main camera 132 and forms a grid on the floor surface 10 of the work site W, And the shape of the bottom line L constituting the quadrangle of FIG.

In addition, a bottom line straight line AB connecting the extension line matching the movement direction of the transfer robot 100 within a predetermined range, that is, A and B in Fig. 9, among the shapes of the recognized bottom line L, (Y-axis) of the transfer robot 100 and a virtual extension line extending in the lateral direction (x-axis) orthogonal to the movement direction and the extracted bottom line straight line AB as shown in Fig. The inclination angle alpha between the bottom line straight line AB and the y axis is calculated to determine the extent to which the transfer robot 100 is displaced to the left or right from the movement path C. [

At the same time, a lateral distance d between the bottom line straight line AB and the x axis is calculated to determine an interval in which the transfer robot 100 is laterally spaced from the movement path C.

In addition, the main control unit 160 corrects the transfer operation plan with the error information about the calculated tilt angle alpha and the lateral distance d, and the motion control unit 170 controls the transfer operation plan of the main control unit 160 So that the transfer robot 100 can be controlled to return to the movement path C.

Here, the bottom line L is formed by assembling a plurality of rectangular bottom floors forming the bottom surface 10 in a general work area W side by side so that the bottom line L is used as a work area W) can be omitted, so that the construction cost of the system can be reduced.

It is preferable that the landmark M is disposed at the intersection of the bottom line L on the movement path C so that each movement path C can be set along the bottom line L. [

The method of confirming the current position using the radio signal of the unmanned freight transport system according to the first preferred embodiment of the present invention and the method of using the bottom line shape of the unmanned freight transport system according to the second preferred embodiment of the present invention A method of correcting the traveling direction can be used solely for each system, and can be used simultaneously and simultaneously on each system.

The respective landmarks M distributed and arranged along the movement path C in the workshop W are sequentially read out by the respective structures and functions of the unmanned freight transfer system according to the preferred embodiment of the present invention as described above, By following the movement route while confirming the current position with the extracted mark position information, the installation and maintenance of the system can be greatly reduced and the control algorithm can be simplified.

Also, it is possible to confirm the current position using a radio signal received from another unmanned freight transfer robot, analyze the bottom surface 10 of the work space W, By calculating the error information with respect to the moving direction, it is possible to control the travel more precisely than when the route between the landmarks M is moved, thereby preventing the deviation of the route. The slippage of the moving wheel or the contact with the surrounding obstacle It is possible to grasp the position even if it is departed, and it is possible to provide an effect that return to the movement route C is easy.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It is to be understood that various modifications and changes may be made without departing from the scope of the appended claims.

10 ... floor 100 ... transfer robot
200 ... Host terminal AB ... Bottom line Straight line
C ... Route G ... Destination
L ... Floor Line M ... Landmark
W ... workshop

Claims (9)

delete delete delete delete delete delete The robot car travels along the predetermined movement route C in the workshop W and receives the control signal including the work instruction to establish the transfer operation plan of the robot, A plurality of landmarks M spaced apart from each other are sequentially read out to extract mark position information, and the current position is checked with the extracted mark position information, A plurality of unmanned freight transfer robots 100 running at a predetermined speed; And
And a host terminal (200) for outputting the control signal including a cargo transfer work instruction for each unmanned freight transfer robot through a wireless communication network,
Each of the unmanned freight transfer robots is moved in the work space W when slippage occurs in the moving wheels of the unmanned freight transfer robot or when the robot leaves the path from the movement path C due to contact with the surrounding obstacles The positioning information is extracted using the radio signal output from the other unmanned freight transfer robot located on the landmark M and the current absolute position is confirmed and the current position is confirmed by the extracted positioning information to correct the transfer operation plan Moves along the movement path C,
The unmanned freight transfer robot 100 has a bottom surface 10 formed on the floor 10 of the worksite W by image analysis of an image obtained by photographing the bottom surface 10 of the workplace W, Extracts a bottom line straight line AB that matches the moving direction of the robot from the shape of the recognized bottom line L and recognizes the shape of the extracted bottom line straight line AB and the moving direction Moves along the movement path (C) while correcting the direction of travel to error information calculated by the spaced tilt angle (alpha) and lateral distance (d)
The bottom line L is a line formed by laterally assembling a plurality of rectangular bottoms constituting the bottom surface 10 of the work W,
Characterized in that the landmark (M) is arranged at the intersection of the bottom line (L) on the movement path (C)
The unmanned cargo transfer robot includes:
The current positioning information is extracted by applying a positioning technique using Received Signal Strength Indication (RSSI) received from a plurality of different unmanned freight transfer robots,
The unmanned cargo transfer robot includes:
We use the propagation attenuation model of the signal to extract the current location information by applying the trilateration positioning method that calculates the distances from the different unmanned freight transport robots and estimates the position,
The unmanned cargo transfer robot includes:
The signal intensity transmitted from each of the unmanned freight transfer robots is measured in advance and stored in the memory, and when the signal strength value received from the arbitrary unmanned freight transfer robot is transferred, the position information corresponding to the signal strength value is read from the memory And extracting the current positioning information using a fingerprint positioning technique for estimating the position,
Unmanned Logistics Cargo Transfer System. delete delete
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