KR101955628B1 - System and method for managing position of material - Google Patents

Abstract

A material location management system and a material location management method are disclosed. A method of managing a location of a material according to an embodiment of the present invention includes: generating a beacon signal in a beacon generator attached to pallets on which materials or materials are stacked; Recognizing a beacon signal in a mobile beacon scanner installed in a material transfer vehicle; Updating a map indicating the location of materials based on the material information transferred by the material transfer vehicle and at least one beacon signal recognized by the mobile beacon scanner; And calculating the beacon signals corresponding to the movement route to the target position to which the vehicle is to be moved based on the map and determining whether the vehicle is deviated from the path based on the beacon signals.

Description

TECHNICAL FIELD [0001] The present invention relates to a material position management system and a material position management method,

The present invention relates to a material location management system and a material location management method, and more particularly, to a method and system for managing a location of a material to be transported at a material stockyard using a movable beacon scanner installed in a material transport vehicle, And to a method of managing a location of a material.

In order to manufacture a ship or an offshore plant, it is necessary to install various kinds of equipment such as piping on the block which is a building unit of the hull. For example, in order to reduce the work load of the trailing process, a preceding design process is performed in which various kinds of equipment such as piping spools are installed in the block in advance. In the preliminary design process, the materials to be installed in the block are various kinds, and most of the materials are placed in the material stockyard for a certain period of time after they are received, and then transferred to the workshop at necessary time. In order to shorten the working air and reduce the cost, it is necessary to quickly find the necessary material among the materials stored in the stock house, and it is necessary to precisely and efficiently manage the position of the materials.

As a conventional technique for managing the position of materials, there is a method using a beacon system. This conventional beacon system uses a map expressing the position (coordinates) of a beacon attached to a material by fixed scanners, and receives a Bluetooth signal emitted from a beacon from three or more nearby scanners, The position of the beacon (material) is calculated by measurement. However, this approach requires a larger number of scanner installations as the area of the material stockyard is larger. In addition, since an expensive scanner is used for highly precise position measurement, the operation cost is increased.

Due to these problems, conventionally, the material input / output person remembers the approximate position of the materials, and then searches for the exact position of the material while moving around the stocker at the time of material delivery. However, it is often the case that the position of the material at the time of arrival of the material is inconsistent with the position of the material at the time of arrival because the material position is frequently changed for efficient utilization of the dead space during the period until the material is discharged from the stocking place, It is difficult to precisely control the location of materials because it is made up of a large stockpile, and it takes time to find the material, which is a factor in delaying the process.

An object of the present invention is to provide a material location management system and a material location management method for guiding a moving route to a target location of a vehicle that transports a material at a material stocking location based on beacon signals of materials.

It is another object of the present invention to provide a material location management system and a material location management method for managing the location of materials based on a topological map indicating a positional correlation between adjacent materials.

It is another object of the present invention to provide a material location management system and a material location management method that can efficiently perform a material location management at a low cost without a high-precision scanner.

The problems to be solved by the present invention are not limited to the above-mentioned problems. Other technical subjects not mentioned will be apparent to those skilled in the art from the description below.

A movable beacon scanner installed on a vehicle for picking up a material at a material stockyard and transferring the stacked material; A beacon generator attached to each of the pallets on which materials or materials are stacked to generate a beacon signal; And a map updating unit for updating a map indicating positions of the materials based on the material information transferred by the vehicle and at least one beacon signal recognized by the movable beacon scanner. And a route guide unit for calculating beacon signals corresponding to the movement route to the target position at which the vehicle is to be moved based on the map and determining whether the vehicle is deviated from the route based on the beacon signals.

Wherein the route guidance unit comprises: a reference path generation unit for calculating a reference beacon sequence including beacon signals corresponding to a travel path to a target location where the vehicle is to be moved based on the map; And a path comparator comparing the beacon recognition sequence recognized by the mobile beacon scanner with the reference beacon sequence to determine whether the vehicle deviates from the movement path.

Wherein the reference beacon sequence is information in which beacon signals of materials arranged along the movement path are sequentially arranged, and the beacon recognition sequence is a sequence in which beacon signals having the maximum intensity among the signals recognized by the movable beacon scanner are sequentially arranged Information.

The route guidance unit may further include a message generation unit for generating a route departure message indicating that the vehicle is departing from the route when it is determined that the vehicle is departing from the travel route.

Wherein the route guide unit comprises: a fixture position determining unit for determining a fixture position of the material according to a work schedule assigned to the vehicle; And a material determination unit for determining a transfer material to be transferred to the vehicle based on a distance from the vehicle, among the candidate materials matching the job schedule.

The route guidance unit may guide the movement path of the vehicle so as to approach the vehicle in a direction in which the barcode of the transporting material can be recognized.

The map updating unit may update a topological map indicating positional correlation information between adjacent materials based on the material information and at least one beacon signal recognized by the mobile beacon scanner.

According to another aspect of the present invention, there is provided a method comprising: generating a beacon signal in a beacon generator attached to pallets on which materials or materials are placed, respectively; Recognizing the beacon signal in a movable beacon scanner installed in a material transfer vehicle; Updating a map indicating a location of materials based on material information transferred by the material transport vehicle and at least one beacon signal recognized by the mobile beacon scanner; And a step of calculating beacon signals corresponding to a movement path to a target position at which the vehicle is to be moved based on the map and determining whether the vehicle is deviated from the path based on the beacon signals / RTI >

The step of determining whether or not the vehicle is deviated from the path includes the steps of: calculating a reference beacon sequence including beacon signals corresponding to a travel path from the map to a target location where the vehicle is to be moved; And comparing the beacon recognition sequence recognized by the mobile beacon scanner with the reference beacon sequence to determine whether the vehicle is detached.

The method may further include generating a departure message indicating that the vehicle is departing from the route when it is determined that the vehicle is departing from the travel route.

The method includes: determining a position of a material in accordance with a work schedule assigned to the vehicle; Determining a transfer material to be transferred to the vehicle based on a distance to the vehicle among the candidate materials matching the job schedule; And determining the movement path so as to approach the vehicle in a direction in which the bar code of the transport material can be recognized.

The step of updating the map indicating the position of the materials includes updating the topological map indicating the positional correlation information between adjacent materials based on the material information and at least one beacon signal recognized by the mobile beacon scanner; . ≪ / RTI >

According to an embodiment of the present invention, there is provided a material location management system and a material location management method for guiding a moving route to a target location of a vehicle for transferring a material at a material repository on the basis of a beacon signal of materials.

According to an embodiment of the present invention, there is provided a material location management system and a material location management method for managing the location of materials based on a topological map indicating a positional correlation between adjacent materials.

In addition, according to the embodiment of the present invention, a material location management system and a material location management method capable of efficiently managing the location of the material at low cost can be provided without a high-precision scanner.

The effects of the present invention are not limited to the effects described above. Unless stated, the effects will be apparent to those skilled in the art from the description and the accompanying drawings.

1 is a plan view schematically illustrating a material location management system according to an embodiment of the present invention.
2 is a configuration diagram of an information providing unit constituting a material location management system according to an embodiment of the present invention.
3 is a flowchart of a method of managing a location of a material according to an embodiment of the present invention.
4 is a conceptual diagram of a topological map generated according to an embodiment of the present invention.
Figure 5 is an implementation of a topological map generated in accordance with an embodiment of the present invention.
FIGS. 6 to 10 are conceptual diagrams illustrating a topological map update according to an embodiment of the present invention.
FIG. 11 is a configuration diagram of a route guide unit constituting a material location management system according to an embodiment of the present invention.
12 is a flowchart of a method of managing a location of a material performed by a route guide unit constituting a material location management system according to an embodiment of the present invention.
13 is a view for explaining a method of determining a position where a material is to be stacked according to an embodiment of the present invention.
FIG. 14 is a diagram for explaining a method of determining a transported material and guiding a movement route according to an embodiment of the present invention.
15 is a diagram for explaining a method of determining whether a material transfer vehicle is deviated from a path according to an embodiment of the present invention.

Other advantages and features of the present invention and methods of achieving them will be apparent by referring to the embodiments described hereinafter in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and the present invention is only defined by the scope of the claims. Although not defined, all terms (including technical or scientific terms) used herein have the same meaning as commonly accepted by the generic art in the prior art to which this invention belongs. A general description of known configurations may be omitted so as not to obscure the gist of the present invention. In the drawings of the present invention, the same reference numerals are used as many as possible for the same or corresponding configurations. To facilitate understanding of the present invention, some configurations in the figures may be shown somewhat exaggerated or reduced.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises", "having", or "having" are intended to specify the presence of stated features, integers, steps, operations, components, Steps, operations, elements, parts, or combinations thereof, whether or not explicitly described or implied by the accompanying claims.

Used throughout this specification may refer to a hardware component such as, for example, software, FPGA or ASIC, as a unit for processing at least one function or operation. However, "to" is not meant to be limited to software or hardware. &Quot; to " may be configured to reside on an addressable storage medium and may be configured to play one or more processors.

As an example, the term '~' includes components such as software components, object-oriented software components, class components and task components, and processes, functions, attributes, procedures, Routines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables. The functions provided by the components and components may be performed separately by a plurality of components and components, or may be integrated with other additional components.

The material location management system according to an embodiment of the present invention updates a map indicating the location of materials based on a movable beacon scanner installed on a material transfer vehicle and updates the map indicating the locations of the materials based on the moving path to the target position of the material transfer vehicle Based on the beacon signals, the deviation of the path of the material transporting vehicle can be determined.

According to an embodiment of the present invention, the position of materials is managed by updating a topological map indicating positional correlation information between adjacent materials based on a movable beacon scanner installed in a material transporting vehicle, It is possible to efficiently manage the position of the material at low cost without installing a large number of the same.

1 is a plan view schematically illustrating a material location management system 10 according to an embodiment of the present invention. 1, a material location management system 10 according to the present embodiment includes a movable beacon scanner 14 installed on a material transfer vehicle 12, a pallet 18 on which materials 18 or materials 18 are mounted A beacon generator 20, and an information providing unit 100, each of which is installed in the base station 16,

The material transporting vehicle 12 may be provided as a vehicle, for example, a forklift, which transports the material to the material stocking location, then unloads the material, places the material in the material stocking place, and transfers the material to the workplace. The material transfer vehicle 12 has means such as a traveling device (not shown) for traveling the vehicle body and a fork 12a capable of lifting the pallet 16.

The movable beacon scanner 14 moves together with the material conveying vehicle 12. In this embodiment, since the location of materials is managed based on the relative positional relationship information, it is not necessary to measure the absolute position (coordinates) of the movable beacon scanner 14 or the materials. Therefore, since the conventional fixed beacon scanner does not require means (e.g., a light wave scanner, a three-dimensional laser scanner, or a plurality of targets) for accurately measuring the absolute position of the fixed beacon scanner, the cost of managing the location of materials is reduced.

FIG. 1 shows an example in which the beacon generator 20 is installed on the pallet 16, but the beacon generator 20 may be installed directly on the material 18. The beacon generator 20 generates a beacon signal. A plurality of beacon generators 20 may be provided to generate beacon signals of the same intensity, or may be provided to generate beacon signals of different intensities.

The communication method between the beacon generator 20 and the mobile beacon scanner 14 may be provided by a wireless communication method such as Bluetooth, Zigbee, WiFi, or the like, no.

The mobile beacon scanner 14 recognizes the beacon signals generated from the beacon generators 20 and measures the received signal strength indicator (RSSI) of each beacon signal. In order to measure the relative position of the movable beacon scanner 14 to the surrounding materials and to generate a topological map of the materials, the measured value of the movable beacon scanner 14 is provided to the information providing unit 100.

FIG. 1 shows an example in which the movable beacon scanner 14 is attached to the upper portion of the material transporting vehicle 12, but it may be installed at a position such as the inside or the side of the material transporting vehicle 12. When the plurality of beacon generators 20 generate beacon signals of different intensities, the mobile beacon scanner 14 compares the intensity of the beacon signal generated in each beacon generator 20 with the receive intensity of the beacon signal, ) May be estimated based on the relative positional relationship information.

The information providing unit 100 may be installed in the material transfer vehicle 12 or remotely outside the material transfer vehicle 12. [ 2 is a block diagram of an information providing unit 100 constituting a material location management system according to an embodiment of the present invention.

1 and 2, the information providing unit 100 includes a control unit 110, an interface unit 120, a moving material determining unit 130, a getting position determining unit 140, a map updating unit 150, A storage unit 160, a display unit 170, and a route guide unit 180.

The control unit 110 controls the operation of the material transporting vehicle 12 such as the material information transferred to the material transporting vehicle 12, the getting off position of the material getting off the material transporting vehicle 12, the relative positional relationship between the materials 18 and the material transporting vehicle 12 So as to update the topological map.

The control unit 110 may include at least one processor and may be a central processing unit (CPU), a graphic processing unit (GPU), a general graphics processing unit (GPGPU), or the like. a general purpose graphic processing unit, or the like, but is not limited thereto.

The interface unit 120 may be provided as a user interface unit, a communication interface unit, or the like. The user interface unit is provided for inputting a command for requesting the user to update the topological map, and may be provided as an input button, a touch pad, a keyboard, a mouse, and the like. The communication interface unit receives data from the mobile beacon scanner 14, outputs a topological map to the display unit 170, or can be provided for functions such as wireless transmission / reception.

The moving material determination unit 130 recognizes the material information transferred by the material transfer vehicle 12 for updating the topological map according to the material movement. The moving material determining unit 130 determines whether the material transporting vehicle 12 is traveling by receiving the traveling speed information of the material transporting vehicle 12 and determines whether the material transporting vehicle 12 is traveling If the beacon signal having the reference reception strength or more lasts for a set time or longer, the material that transmitted the beacon signal can be determined as a material to be conveyed by the material conveyance vehicle 12. [

In another embodiment, the moving material determination unit 130 receives the measured value of the acceleration sensor provided in the beacon generator 20, and, based on the measured value of the acceleration sensor, Or the like. The moving material determining unit 130 may recognize the barcode attached to the material 18 or the pallet 16 by a bar code recognizer provided on the material transporting vehicle 12 and may detect the movement of the material transporting vehicle 12 The material to be transferred may be determined.

The getting-off position determining unit 140 determines whether or not the beacon signal received from the beacon generator 20 installed on the lowered material 18 or the pallet 16 when the material is removed from the material transfer vehicle 12, The beacon generators 20 installed on the pallets or the beacon generators 20 may compare the reception intensities of the beacon signals received from the beacon generators 20 to determine the position of the getting off of the lowered material as a positional correlation with surrounding materials.

The information of the transported material determined by the moving material determination unit 130 and the information of the getting off location of the material determined by the getting off position determining unit 140 are provided to the map updating unit 150 for updating the topological map . The map updating unit 150 updates the topological map indicating the positional correlation information between adjacent materials based on the material information transferred by the material transfer vehicle 12 and at least one beacon signal recognized by the movable beacon scanner do.

The storage unit 160 stores a program (algorithm) for updating the topological map, various kinds of information necessary for updating the topological map, and a topological map updated by the map updating unit 150. The display unit 170 displays information such as the position of the material transporting vehicle 12, the getting off position of the material, the updated topological map, etc. on a screen such as a liquid crystal display (LCD) such as a smart phone or a tablet And can be provided to the worker of the material transfer vehicle 12.

Based on the map updated by the map updating unit 150, the route guide unit 180 calculates beacon signals corresponding to the movement route to the target location where the material transporting vehicle 12 is to be moved, It is determined whether or not the vehicle has deviated from the route. The path guide unit 180 will be described later in detail with reference to FIGS. 11 to 15. FIG.

3 is a flowchart of a method of managing a location of a material according to an embodiment of the present invention. Hereinafter, a method of managing a location of a material according to an embodiment of the present invention will be described with reference to FIGS. 1 and 3. FIG. First, a material information barcode attached to a pallet is scanned for materials placed in the material stockyard, and the barcode of the beacon generator 20 installed on the pallet is scanned to obtain information on the material information and the beacon generator And generates an initial topological map (S10).

4 is a conceptual diagram of a topological map generated according to an embodiment of the present invention. As shown in Fig. 4, the topological map has a structure in which adjacent nodes (materials) are connected to edges. Figure 5 is an implementation of a topological map generated in accordance with an embodiment of the present invention. As shown in FIG. 5, the topological map is composed of positional correlation information of adjacent materials. In one embodiment, positional correlation information between adjacent materials may include information of material adjacent to the upper, lower, left, and right sides of the material, and distance information.

In the topological map shown in Fig. 5, the material B 22 is located on the left side of the material A 21, the material C 23 is located on the right side of the material A 21, It can be confirmed that the material D (24) is positioned and the material E (25) is positioned below the material A (21). If necessary, distance information between adjacent materials may be added.

Referring back to FIG. 3, when the material is transported by the material transporting vehicle 12, the currently transported material is determined (S20). Then, using the peripheral beacon signals recognized by the movable beacon scanner 14, And determines a getting-off position (S30). When the material is transferred, the topological map is updated in accordance with the unloading position of the material (S40), and steps S20 to S40 are repeated until the work is completed.

FIGS. 6 to 10 are conceptual diagrams illustrating a topological map update according to an embodiment of the present invention. 6 to 10, reference numeral 31 denotes a moving target material to be moved to a work site for work, and reference numerals 32 and 33 are materials to be moved to the periphery for transporting the moving target material 31. [

1 and 7, as the material conveying vehicle 12 is being conveyed, the movable beacon scanner 14 measures the reception intensity of the peripheral beacon signals, and accordingly, according to the reception intensity of the peripheral beacon signals, the material conveyance vehicle 12 ) Is estimated. As shown in Figs. 8 and 9, the material transporting vehicle 12 approaches the material 32 to be moved to the periphery, and transports the material 32 to the peripheral position.

When the corresponding material 32 is lowered, the topological map is updated according to the relative getting off position of the material 32. At this time, while the material transporting vehicle 12 is continuously moving, the position is probabilistically updated based on the RSSI of the beacon signal transmitted from the surrounding materials 31 to 39, so that the position having the highest probability is obtained as the position , And the location of the material transporting vehicle (12).

Thereafter, as shown in Fig. 10, after moving the moving target material 31, moving the materials 32 and 33 moved to the periphery to move the moving target material 31, and then updating the topological map do. The topological map can be updated in real time whenever the material moves.

According to the embodiment of the present invention, it is possible to monitor and track the flow of the received material in real time and arrange the necessary materials in the right place without transmitting information or wasting time between the workers. Also, a topological map generated based on the positional correlation between adjacent materials by using a beacon attached to a material or a pallet, without installing an expensive fixed high-precision beacon scanner at a material stacking position or measuring an absolute position, The position of the material can be grasped by using the material transporting device, and the material stacking / transporting control by the material transporting vehicle can be efficiently managed at a low cost.

11 is a configuration diagram of a route guide unit 180 constituting a material location management system according to an embodiment of the present invention. 11, the path guide unit 180 includes a material determination unit 182, a material placement position determination unit 184, a reference path generation unit 186, a path comparison unit 188, and a message generation unit 190 ).

12 is a flowchart of a method of managing a location of a material performed by a route guide unit constituting a material location management system according to an embodiment of the present invention. Referring to FIGS. 11 and 12, first, a material or material stacking position is determined according to a work schedule of the material transporting vehicle 12 (S110). In one embodiment, the fix position determining unit 184 can determine the fix position of the material in accordance with the task schedule and / or the material attribute assigned to the material transport vehicle 12. [

13 is a view for explaining a method of determining a position where a material is to be stacked according to an embodiment of the present invention. Referring to Figs. 11 to 13, the fix position determining unit 184 determines candidate positions L1 to L7 at which the material in the stock 50 can be placed. The positions of the materials are updated in real time, and the regions where the previously received materials are not placed at the time of new material arrival can be determined as the candidate positions (L1 to L7).

For example, if the work schedule of the newly arrived material is placed in the priority order, the candidate position L1 close to the take-out unit 52 may be determined as the position where the material is to be placed so that the material delivery can be promptly performed. As another example, when the work schedule of the newly stocked material is disposed at a rearranged position, the candidate position L7 remote from the carry-out unit 52 is moved to the position where the material is to be stacked . ≪ / RTI >

As another example, depending on the material properties, the location where the material is to be placed may be determined. For example, in the case of a material that can be used for general purpose in various work schedules, the material is placed at a position close to the carry-out unit 52, and in the opposite case, The material can be placed at a remote position.

FIG. 14 is a diagram for explaining a method of determining a transported material and guiding a movement route according to an embodiment of the present invention. 11, 12, and 14, the material determination unit 182 determines whether the material transfer vehicle 12 among the candidate materials 18a, 18b, 18c matching the work schedule set in the material transfer vehicle 12 It is possible to determine a transfer material to be transferred to the material transfer vehicle 12 based on the distance of the transfer material. In one embodiment, the material determination unit 182 can determine, as the transfer material, a material having the closest distance to the material transfer vehicle 12 as the material transfer vehicle among the candidate materials 18a, 18b, and 18c.

For example, in the case where the conveying material is recognized by the bar code, the path guide unit 180 controls the conveying path of the material conveying vehicle 12 so as to approach the conveying vehicle 12 in a direction in which the conveying material bar code B1 can be recognized. 12 to the user. The movement path of the material transfer vehicle 20 can be provided to a person who controls the material transfer vehicle 20 on a screen such as an LCD (Liquid Crystal Display).

15 is a diagram for explaining a method of determining whether a material transfer vehicle is deviated from a path according to an embodiment of the present invention. Referring to FIGS. 11, 12 and 15, when a material to be removed or a material position is determined (S110), the reference path generation unit 186 generates a target position N11 (for example, After the material transporting vehicle 12 has determined the movement path P1 to be moved for the material standing up or stacking up to the position of the material to be traversed or the material stacking position, The beacon sequence is calculated (S120).

In one embodiment, the reference beacon sequence may be information in which the beacon signals of the materials disposed along the movement path Pl are sequentially arranged. In the example shown in FIG. 15, the reference beacon sequence matching the movement path P1 of the material transporting vehicle 12 is (N1 or N2)? (N3 or N4)? (N5 or N6)? (N7 or N8) → (N9 or N10) → (N11).

The path comparator 188 compares the beacon recognition sequence recognized by the movable beacon scanner 14 with the reference beacon sequence calculated by the reference path generator 186 to determine whether the material conveyance vehicle 12 is moving on the movement path P1 (S130). ≪ / RTI > In one embodiment, the beacon recognition sequence may be information in which beacon signals with the highest intensity among the signals recognized by the mobile beacon scanner 14 are arranged in sequence.

In the example of FIG. 15, when the material transporting vehicle 12 moves to the target position N11 along the movement path P1, (N1 or N2)? (N3 or N4)? ( The beacon recognition sequence arranged in the order of N5 or N6 or N7 or N8 or N9 or N10 or N11 is generated in this order so that the driver of the material transporting vehicle 12 does not depart from the moving path P1, It can be recognized that it is moving to the position N11.

If the material transporting vehicle 12 deviates from the moving path P1 by the departure path P2, the following condition is satisfied: N1 or N2 → N3 or N4 → N3 or N5 → N12 or N13 → N14 or < RTI ID = 0.0 > N15) < / RTI > As a result, if the beacon recognition sequence is inconsistent with the reference beacon sequence, the message generating unit 190 generates a departure message indicating that the material transporting vehicle 12 has departed from the movement route P1 (S140).

Accordingly, the driver of the material transporting vehicle 12 can recognize the fact that he / she has departed from the movement route P1 through the route departure message, and can switch the direction. The movement path P3 of the material transporting vehicle 12 is recalculated and the reference beacon sequence is also calculated as N12 or N13 → N3 or N5 → N5 or N6 → N7 or N6, N8) to (N9 or N10) to N11 (S150). Thereafter, it is determined whether or not the material conveying vehicle 12 has deviated from the path on the basis of the re-calculated reference beacon sequence.

According to the present embodiment, the location of the materials can be managed by using the beacon signals of the materials, and at the same time, the moving route of the material transfer vehicle can be guided. At least one of the steps constituting the method for managing a location of a material according to an embodiment of the present invention may be a program that can be executed by a computer, for example, Which can be implemented in a general-purpose digital computer.

The computer readable recording medium may be a volatile memory such as SRAM (Static RAM), DRAM (Dynamic RAM), SDRAM (Synchronous DRAM), ROM (Read Only Memory), PROM (Programmable ROM), EPROM (Electrically Programmable ROM) Non-volatile memory such as EEPROM (Electrically Erasable and Programmable ROM), flash memory device, Phase-change RAM (PRAM), Magnetic RAM (MRAM), Resistive RAM (RRAM), Ferroelectric RAM But are not limited to, optical storage media such as CD ROMs, DVDs, and the like.

It is to be understood that the above-described embodiments are provided to facilitate understanding of the present invention, and do not limit the scope of the present invention, and it is to be understood that various modified embodiments are also within the scope of the present invention. It is to be understood that the technical scope of the present invention should be determined by the technical idea of the claims and the technical scope of protection of the present invention is not limited to the literary description of the claims, To the invention of the invention.

10: Material location management system 12: Material transport vehicle
12a: Fork 14: Portable Beacon Scanner
16: Pallet 18: Material
20: Beacon generator 100: Information providing unit
110: control unit 120: interface unit
130: moving material determining unit 140: getting off position determining unit
150: map update unit 160: storage unit
170: Display section 180: Path guide section
182: Material determination unit 184: Material placement position determination unit
186 reference path generation unit 188 path comparison unit
190:

Claims (10)

A movable beacon scanner installed on a vehicle that picks up the material at a material stocking location and transports the picked up material;
A beacon generator attached to each of the pallets on which materials or materials are stacked to generate a beacon signal;
A map updating unit for updating a map indicating positions of materials based on material information transferred by the vehicle and at least one beacon signal recognized by the mobile beacon scanner; And
And a route guidance unit for calculating beacon signals corresponding to a movement route to the target position at which the vehicle is to be moved based on the map and determining whether the vehicle is deviated from the route based on the beacon signals,
Wherein the map updating unit is configured to update a topological map indicating positional correlation information between adjacent materials based on the material information and at least one beacon signal recognized by the mobile beacon scanner,
Wherein the topological map is represented by information of a material adjacent to an upper side, a lower side, a left side, and a right side of a material, and spacing distance information between the adjacent materials. The method according to claim 1,
Wherein,
A reference path generation unit for calculating a reference beacon sequence including beacon signals corresponding to a movement path to a target position at which the vehicle is to be moved based on the map; And
And a route comparison unit comparing the beacon recognition sequence recognized by the mobile beacon scanner with the reference beacon sequence to determine whether the vehicle departs from the movement route. 3. The method of claim 2,
Wherein,
And a message generator for generating a departure message informing that the vehicle is departing from the route if it is determined that the vehicle is departing from the travel route. The method according to claim 1,
Wherein,
A fixture position determining unit for determining a fixture position of a material according to a work schedule assigned to the vehicle; And
And a material determination unit for determining a transfer material to be transferred to the vehicle based on a distance from the vehicle to the candidate material meeting the job schedule,
And guiding the movement path of the vehicle so as to approach the vehicle in a direction in which the bar code of the transport material can be recognized. delete Generating a beacon signal in a beacon generator attached to each of the pallets on which the materials or materials are placed;
Recognizing the beacon signal in a movable beacon scanner installed in a material transfer vehicle;
Updating a map indicating a location of materials based on material information transferred by the material transport vehicle and at least one beacon signal recognized by the mobile beacon scanner; And
Calculating beacon signals corresponding to a movement path to a target position at which the vehicle is to be moved based on the map, and determining whether the vehicle is deviated from the path based on the beacon signals,
Wherein the step of updating the map indicating the location of the materials comprises:
And updating a topological map indicating positional correlation information between adjacent materials based on the material information and at least one beacon signal recognized by the mobile beacon scanner,
Wherein the topological map is represented by information of a material adjacent to an upper side, a lower side, a left side, and a right side of the material, and a distance information of the adjacent materials. The method according to claim 6,
The step of determining whether the vehicle is deviated from the path includes:
Calculating a reference beacon sequence including beacon signals corresponding to a movement path to a target position at which the vehicle is to be moved based on the map; And
And comparing the beacon recognition sequence recognized by the mobile beacon scanner with the reference beacon sequence to determine whether the vehicle has departed,
Wherein the reference beacon sequence is information in which beacon signals of the materials arranged along the movement path are sequentially arranged,
Wherein the beacon recognition sequence is information in which beacon signals having a maximum intensity among the signals recognized by the mobile beacon scanner are sequentially arranged. 8. The method of claim 7,
The step of determining whether the vehicle is deviated from the path includes:
Further comprising the step of generating a departure message informing the departure of the vehicle if the vehicle is judged to be departing from the travel route. The method according to claim 6,
Determining a rack position of the material according to a work schedule assigned to the vehicle;
Determining a transfer material to be transferred to the vehicle based on a distance to the vehicle among the candidate materials matching the job schedule; And
And determining the movement path so as to approach the vehicle in a direction in which the bar code of the transport material can be recognized. delete

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