KR101805423B1 - ICT based Stereo Vision guided vehicle system for the next generation smart factory - Google Patents

Abstract

According to the embodiment of the present invention, it is to provide an ICT-based unmanned transport system applied to a smart factory which facilitates production management by checking various accident situations additionally. The ICT-based unmanned transport system applied to a smart factory includes at least one marker (100); a tag (200) installed on a production site; one or more AGVs (300); and a ground control part (400).

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to an ICT-based unmanned transportation system applied to a smart factory,

The present invention is based on an ICT-based system applied to a smart factory that systematically manages the whole process of unmanned transportation and cell-type product assembly transfer that unmanned process logistics on the production site, thereby creating a more systematic, efficient and economical field environment And more particularly to an unmanned transportation system.

In general, the unmanned conveying system has a simple and repetitive movement of goods, a high labor intensity, a movement of goods in a dangerous environment, and a conveyor, Loading-unloading equipment and AGV (automated guided vehicle) and so on.

In the case of this unmanned conveying system, the AGV system is introduced and operated selectively in a large enterprise or a medium-sized company having a mass production system or in a process of high value-added creation. In addition, a small conveyor or a low- In order to carry out automated production using equipment and move or simple move of products between processes, passive transportation method of people using bogies is adopted.

For example, as disclosed in Japanese Patent Laid-Open Publication No. 1999-0050859, a worker operates an automatic conveyance truck by issuing a voice command to the automatic conveyance truck, or the automatic conveyance truck informs the operator of the current situation by voice An automatic conveyance bogie capable of sound reception / transmission capable of positively preventing an operator from being injured and improving work efficiency, the method comprising the steps of: determining whether an automatic bogie is in online state with a host computer; And a step of voice alarming an error situation when an error occurs in the process, and a step of switching to a mode for receiving a voice command when the automatic conveyance truck is not online with the host computer And performing a voice command when a voice command is received.

However, technological problems to be improved have been exposed in the past.

In the past, in the past, in various industrial fields, the conveying process using the unmanned conveying system has a structure for manually guiding the progress path of the AGV by using a guideline such as orbit, so that the construction of the guideline for guiding the progress path of the AGV Therefore, the installation cost of the unmanned transportation system is increased, and it is not easy to change the progress route of the AGV or to add a new destination, and the system for controlling the unmanned transportation system operating at one or more production plants is insufficient. Therefore, there is a problem that labor costs are wasted because a worker who manages the unmanned return system of the corresponding production factory is needed, and there is a problem that the worker is mistaken or the production situation is not easy because the accident situation can not be immediately detected and corrected.

Korean Patent Publication No. 1999-0050859 (published on July 30, 1999) is proposed.

SUMMARY OF THE INVENTION The present invention has been made to solve the conventional problems, and it is an object of the present invention to eliminate the need for a guideline for guiding the progress route of the AGV, thereby reducing the installation cost of the unmanned transport system, In addition, it is possible to integrate control of unmanned conveying systems operated by one or more production plants, so that one manager can manage one or more production facilities at the same time, thereby reducing labor costs. The present invention provides an ICT-based unattended transportation system applied to a smart factory that enables easy management of manufacturing operations by making it possible to further grasp the manufacturing process.

According to an aspect of the present invention,

As an unattended transport system for unmanned transportation and cell-type product assembly transportation that unmanned process logistics on the production site,

One or more markers embedded in the bottom of the predetermined travel path;

A tag that communicates in radio waves, has a unique identifier, and is installed at a production site;

The current position is estimated by interpreting the data received from the tag, and the next position coordinate value is obtained through a map building, which is path movement information based on the detected coordinate value, using the estimated current position and the data of the marker The rearward running, and the rearward running on the basis of the running of the vehicle, the sensing of the objects around the running direction through the running module, and the power for running while adjusting the running direction using the running portion, One or more AGVs capable of autonomous travel while performing at least one of traveling, oblique running and turn-turning, and capable of transmitting and receiving overall data related to traveling using a first modem;

A first modem and a second modem, and is capable of transmitting and receiving in a wireless Internet communication environment, and is configured to transmit information on whether or not an AGV is traveling, a traveling direction, and a traveling speed by utilizing overall data related to the traveling of the AGV, And a terrestrial control unit for integrally and remotely controlling one or more AGVs based on information and communication technology (ICT) by the first modem and the second modem. The present invention provides an ICT-based unattended transport system applied to a vehicle.

According to the present invention, since the structure of the AGV can be autonomously driven based on the control program through the PLC program as well as the progress path estimation of the AGV based on the sensing of the near vision radio communication and the sensors with the stereo vision camera, The installation cost of the unmanned transportation system is reduced, the route of the AGV is changed and the new destination is easily expanded, and the unmanned transportation systems operating at one or more production plants are connected to the ICT Communication technology: Information and Communication Technology) and AGV convergence technology, it is possible to remotely control the system so that one manager manages more than one production factory at the same time, which reduces the labor cost, There are effects that can be easily grasped because the situation can be grasped further.

1 to 3 are diagrams showing an ICT-based unattended transport system applied to a smart factory according to an embodiment of the present invention.

The ICT-based unattended transport system applied to the smart factory according to the present invention will be understood from the following detailed description with reference to the accompanying drawings.

In the following description of the exemplary embodiments of the present invention, a detailed description of components that are widely known and used in the art to which the present invention belongs is omitted, and unnecessary explanations thereof are omitted. It is to communicate the point more clearly.

1 to 3 are diagrams for explaining an ICT-based unattended transportation system applied to a smart factory according to an embodiment of the present invention.

The unmanned transportation system 1 includes a marker 100, a tag 200, one or more AGVs 300, and a terrestrial control unit 400.

Hereinafter, as a basic configuration of the present invention, the configuration of each part of an ICT-based unattended transport system applied to a smart factory according to an embodiment will be described in detail with reference to FIG. 1 to FIG. Fig. 1 is an overall configuration diagram of an unmanned transportation system, Fig. 2 is a configuration diagram of an AGV in an unmanned transportation system, and Fig. 3 is a block configuration diagram of an unmanned transportation system.

First, the one or more markers 100 include:

And is embedded in the bottom of the predetermined traveling path, thereby guiding the AGV 300 not to deviate from the driving range.

Here, the marker 100 may include: And the mark sensor 353 provided in the AGV 300 is installed on the bottom of the marker 100. The mark sensor 353 is installed on the bottom of the AGV 300, So that it does not deviate from the direction in which the AGV 300 travels and detects the driving position of the AGV 300.

The tag 200 includes:

Communicates with radio waves, has a unique identifier, and is installed at a production site to store driving information of the AGV 300.

Here, the tag 200 includes: The AGV 300 stores driving information of the AGV 300 while communicating with the reader 351 of the AGV 300 through radio waves and uses the stored information to estimate its own position, The AGV 300 and the one or more markers 100. The AGV 300 is used to communicate the position information and the driving information of the AGV 300 to use it.

And the one or more AGVs 300 include:

The map building (Map Building), which is the path movement information according to the coordinate values detected by utilizing the estimated current position and the data of the marker 100, while estimating the current position by interpreting the data received from the tag 200 Based on the estimation of the next position coordinate value through the driving module 350, sensing the object around the traveling direction through the traveling module 350, and providing power for driving while adjusting the traveling direction using the traveling part 330 , It is possible to perform autonomous traveling while performing at least one of front running, rear running, side running, oblique running, and turn-turn running with a predetermined running path, and transmitting and receiving overall data related to running through the first modem 360 will be.

Here, the AGV 300 includes: (X, y, &thetas;) through the map building, which is path movement information, according to the detected coordinate values, (PLC) data, and transmits and receives data by communicating with the terrestrial control unit 400 while using the stored program data.

Also, the AGV 300 includes: And a front panel 310 having a front caster 311 serving as a sub wheel and a front bumper 312 protecting the AGV 300 and provided with a traveling module 350.

The front casters 311 are provided on the bottom of the AGV 300 as auxiliary wheels and guide the front casters 311 in a forward rotation direction of the AGV 300 to improve driving stability.

The front bumper 312 is provided on the front lower side of the AGV 300. When the AGV 300 collides with an obstacle in the front running, the front bumper 312 absorbs shock to minimize damage to the AGV 300, . A traveling module 350 including a stereo vision 352, a reader 351 and an integrated sensor 354 is provided on the front panel 310 to acquire various information for driving the AGV 300 forward Let's do it.

Also, the AGV 300 includes: And a rear panel 320 which is composed of a rear bumper 322 for protecting the AGV 300 and a traveling module 350.

The rear caster 321 is provided as a sub-wheel on the rear floor of the AGV 300 and guides the rear caster 321 in a rearward direction according to the rear running direction of the AGV 300 to improve driving stability.

The rear bumper 322 is provided at the rear lower side of the AGV 300 and minimizes damage to the AGV 300 by absorbing the impact when the AGV 300 collides with obstacles during rearward travel. A traveling module 350 including a stereo vision 352, a reader 351 and an integrated sensor 354 is provided on the rear panel 320 so that the backward traveling of the AGV 300 So that various kinds of information can be acquired.

Also, the AGV 300 includes: And a running portion 330 that provides power for running while adjusting the running direction using one or more actuators 331. [

The driving unit 330 also performs a steering function while providing driving power through one or more actuators 331. The actuator 331 includes a motor for driving and a motor for steering, The AGV 300 may be installed at one or more of the center side of the AGV 300 to provide power for driving the AGV 300. At this time, An alarm such as a speaker for notifying a warning of a sound in order to prevent a possible accident can be provided and an alarm using a sound can be used for alarming the situation of the AGV 300 such as running, And outputs it as a sound.

Also, the AGV 300 includes: A PLC unit for controlling the travel of the AGV 300 by storing, executing, and processing data necessary for driving the AGV 300 collected through the marker 100, the tag 200, and the traveling module 350 as a PLC program, (340).

The PLC unit 340 is programmed to store data necessary for process logistics and product assembly transfer on the basis of a control of a programmable logic controller (PLC), and executes the stored PLC program, To carry out the process steps for logistics and product assembly transfer. The PLC unit 340 is capable of modifying and rewriting programs for control commands by a microprocessor. The program modification and rewriting is performed through the display 341.

At this time, the PLC unit 340 receives the data of the driving module 350 including the stereo vision 352, the reader 351, and the integrated sensor 354, the remaining battery level of the AGV 300, And collectively processes data for operation.

Also, the AGV 300 includes: And a display 341 composed of an HMI (Human Machine Interface) & MCD for interfacing with the PLC unit 340 while outputting driving information.

The display 341 is for inputting operations such as starting, stopping and stopping the operation of the AGV 300 and correcting and re-creating the program stored in the PLC unit 340, .

Also, the AGV 300 includes: A reader 351 that communicates with a tag 200 that stores driving information of a production site, a stereo vision 352 that photographs an object of front and rear view during driving to provide image data, an integrated sensor (354). ≪ / RTI >

The reader 351 is connected to the PLC unit 340 as a hub and can read and acquire data stored in the tag 200 while communicating with the tag 200. The reader 351 transmits the acquired data to the first modem 360, To the terrestrial control unit 400 using the wireless Internet of the Internet. At this time, the reader 351 corrects an error of the stereo vision 352, such as failure to recognize an obstacle in an area out of the photographing visual field of the stereo vision 352, thereby preventing the collision early.

The stereo vision 352 is connected to the PLC unit 340 as a hub and creates a road map while outputting the front and rear image data photographed during traveling of the AGV 300 to the display 341 in real time, 360 to the terrestrial control unit 400 using the wireless Internet. At this time, the stereo vision 352 is a parallel stereo camera in which there is little vertical parallax and only a horizontal parallax exists. In order to perform a local illumination function for transmitting light to an object to be imaged, a flicker phenomenon .

Accordingly, the stereo vision 352 is substantially similar to the left and right images of the parallel stereo camera in order to recognize objects in the forward view, so that the target object is extracted from one image and the center of the stereo camera field of view As shown in FIG. Further, the stereo vision 352 detects the parallax of input images for two-dimensional spatial map detection and then calculates depth information and real coordinates using perspective transformation between the camera coordinate system and the image coordinate system (X, y) space road map capable of analyzing the relative positional relationship with objects existing in front of the AGV 300 by detecting the minimum value of the detected depth information at the same time. Or more AGV 300 is used as a route for avoiding the obstacle.

The integrated sensor 354 includes a sensing sensor, an impact sensor, and a sound sensor. The integrated sensor 354 is connected to the PLC unit 340 as a hub. The integrated sensor 354 receives data of various sensed signals from the wireless Internet of the first modem 360, The control unit 400, and real-time sensing of other objects approaching the direction of travel of the AGV 300.

Also, the AGV 300 includes: And a first modem 360 for transmitting and receiving overall data related to the driving of the AGV 300 collected through the driving module 350 to and from the terrestrial control unit 400 using the wireless Internet.

The first modem 360 is connected to the PLC unit 340 as a hub and transmits overall data related to the traveling of the AGV 300 to and from the terrestrial control unit 400 in a wireless Internet communication environment Wi- And the like. At this time, the first modem 360 is configured such that various data of the AGV 300 collected through the stereo vision 352, the reader 351, and the integrated sensor 354 are integrally processed by the PLC unit 340 The current state, the error code, the detection signal by various sensors, and the driving record of the tag 200 .

Accordingly, the AGV 300 can be controlled based on information and communication technology (ICT) by the traveling module 350 and the first modem 360 provided in the AGV 300, So that the AGV 100 can be autonomously driven.

Particularly, the present invention can be applied not only to the progress route estimation of the AGV 300 based on the close proximity radio communication with the stereo vision 352, but also to the construction of a guide such as a track for guiding the progress route of the AGV 300, It is unnecessary to reduce the installation cost of the unmanned conveying system 1 and it is easy to change the route of the AGV 300 or to add a new destination.

The terrestrial control unit 400 includes:

The first modem 360 and the second modem 410 are capable of transmitting and receiving data in a wireless Internet communication environment. The AGV 300 can transmit and receive data in an AGV 300 using the overall data related to the traveling of the AGV 300, 300 and the driving speed of the first and second modems 360 and 410 based on the information and communication technology (ICT) by the first modem 360 and the second modem 410. In this case, (300).

Here, the terrestrial control unit 400 includes: The AGV 300 further includes a second modem 410 for communicating with the first modem 360 via wireless Internet to transmit and receive overall data of the AGV 300.

The second modem 410 receives a driving image of the AGV 300, a current state, an error code, a sensing signal by various sensors, a driving record of the tag 200, (Wi-Fi) through a wireless Internet communication environment (Wi-Fi).

Also, the terrestrial control unit 400 includes: And is connected to the second modem 410. The data of the AGV 300 is inputted and outputted through the first PC 421 while intensively processing the data of the AGV 300, Or a production control server 420 that integrally remotely controls the AGV 300 or more.

The production control server 420 is installed at a production site that manages the unmanned transportation system 1 and is connected to the second modem 410. The second modem 410 is connected to the production control server 420 through a CCR computer Processes the data of the AGV 300, creates and modifies the PLC program, and provides it to the PLC unit 340 of the AGV 300.

At this time, the data and the PLC program processed by the production control server 420 can be inputted / outputted through the second PC 441 and various data of the AGV 300 can be inputted / And the supply control server 440.

Also, the terrestrial control unit 400 includes: And a mobile terminal 430 that receives the data of the AGV 300 from the supplementary communication service 450 environment and remotely controls the AGV 300 in real time.

The mobile terminal 430 can receive various kinds of data of the AGV 300 in the environment of the supplementary communication service 450 of the production control server 420 when the operator is not at the production site, The mobile terminal 430 may use separate mobile application software developed to utilize the data of the AGV 300. [

Accordingly, various data of the AGV 300, which is processed by the production control server 420 for an administrator who is not present at the production site by using the mobile terminal 430, can be transmitted to the mobile terminal 430, To enable immediate control.

Also, the terrestrial control unit 400 includes: The AGV 300 is provided at the supplier side of the unmanned transportation system. The data of the AGV 300 provided at the production control server 420 provided at one or more production sites is received in the supplementary communication service 450 environment, And a supply control server 440 integrally and remotely controlling the server 420.

The supply control server 440 is installed in a place where the supplier of the unmanned conveying system 1 is located and includes an AGV 300 which is transmitted and received from the production control server 420 by a CCR computer (execution, synchronization and recovery control computer) It is possible to input and output the data to be processed through the second PC 441. [0215]

At this time, the supply control server 440 is operating in a plurality of production sites as data of the production control server 420 operating in one or more production sites is provided in the environment of the supplementary communication service 450 To carry out an integrated control of the unmanned conveying system (1).

Also, the terrestrial control unit 400 includes: And an additional communication service 450 for providing data from the production control server 420 to the supply control server 440 and the mobile terminal 430 by renting the communication line facility from the main communication service provider.

At this time, the supplementary communication service 450 is connected to the second modem 410 of the production control server 420 operating at one or more production sites by wire or wireless, so that the production control server 420 is operated And to enable data to be transmitted and received outside the production site in a communication service environment. Such communication services are additional services such as database services, voice telephone information services, and information processing services.

The supplementary communication service 450 may further include providing the supplier control server 440 with the location of the production control server 420 operating on one or more production sites based on the information providing service of the GPS satellite do.

At this time, the supplementary communication service 450 provides the location information of one or more production control servers 420 to the supplier control server 440 using the GPS satellite information service, The controller located in the supplier control server 440 uses the information to immediately stop the unattended transport system 1 at the production site in which the problem occurred during the unmanned transportation, So that the supplier can dispatch the manager for solving the problem of the unmanned conveying system 1 immediately.

Accordingly, the present invention can identify the location of the unmanned conveying systems 1 that are operating in one or more production sites through utilization of the GPS satellite information service of the supplementary communication service 450, The maintenance can be performed immediately, thereby preventing delays due to accidents occurring during unmanned return.

As described above. While the present invention has been particularly shown and described with reference to certain preferred embodiments thereof, it is to be understood that the terminology used herein is for the purpose of describing the present invention only and is not intended to limit the scope of the claims. But is not intended to,

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It will be easy for anyone to know.

One; An unattended transport system 100; Marker
200; Tag 300; AGV
310; Front panel 320; Back panel
330; A driving unit 340; PLC unit
350; A traveling module 360; The first modem
400; A ground control unit 410; The second modem
420; Production control server 430; Mobile terminal
440; Supply control server 450; Additional communication services

Claims (5)

As an unattended transport system for unmanned transportation and cell-type product assembly transportation that unmanned process logistics on the production site,
One or more markers (100) embedded in a predetermined traveling path floor;
A tag 200 communicating with the radio wave, having a unique identifier, installed at a production site;
The map building (Map Building), which is the path movement information according to the coordinate values detected by utilizing the estimated current position and the data of the marker 100, while estimating the current position by interpreting the data received from the tag 200 Based on the estimation of the next position coordinate value through the driving module 350, sensing the object around the traveling direction through the traveling module 350, and providing power for driving while adjusting the traveling direction using the traveling part 330 , It is possible to perform autonomous traveling while performing at least one of front running, rear running, side running, oblique running, and turn-turn running with a predetermined running path, and transmitting and receiving overall data related to running through the first modem 360 One or more AGVs 300;
The first modem 360 and the second modem 410 are capable of transmitting and receiving data in a wireless Internet communication environment. The AGV 300 can transmit and receive data in an AGV 300 using the overall data related to the traveling of the AGV 300, 300 and the driving speed of the first and second modems 360 and 410 based on the information and communication technology (ICT) by the first modem 360 and the second modem 410. In this case, And a terrestrial control unit (400) for integrally controlling the remote control unit (300)
The AGV 300 stores data necessary for traveling of the AGV 300 collected through the marker 100, the tag 200 and the traveling module 350 as a program for PLC, Further comprising a PLC unit (340) for controlling the running of the vehicle,
The terrestrial control unit 400 further includes a mobile terminal 430 that receives data of the AGV 300 in an environment of the supplementary communication service 450 and remotely controls the at least one AGV 300 in real time,
The terrestrial control unit 400 further includes a second modem 410 for communicating with the first modem 360 of the AGV 300 through wireless Internet to transmit and receive overall data of the AGV 300,
The AGV (300) further includes a traveling unit (330) that provides power for traveling while adjusting the traveling direction using one or more actuators (331)
The AGV 300 includes a reader 351 that communicates with a tag 200 that stores driving information of a production site, a stereo vision 352 that captures an object of front and rear view during driving to provide image data, Further comprising a travel module (350) comprising an integrated sensor (354) for real time sensing information,
The stereo vision 352 is connected to the PLC unit 340 and creates a road map while outputting front and rear video data photographed during driving of the AGV 300 to the display 341 in real time, And providing the image data and the road map to the terrestrial control unit 400 using the wireless Internet through the Internet,
The terrestrial control unit 400 is located on the supplier side of the unmanned transportation system and transmits data of the AGV 300 provided from the production control server 420 provided at one or more production sites to the supplementary communication service 450 environment Further comprising a supply control server (440) that receives and integrally remotely controls one or more production control servers (420)
The supplementary communication service 450 may further comprise providing to the supply control server 440 the location of the production control server 420 operating on one or more production sites based on the information provision service of the GPS satellite, ICT-based unmanned conveying system applied to. delete delete delete delete

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