KR102033144B1 - System for controlling Automated Guided Vehicle using Visible Light Communication - Google Patents

Abstract

The present invention controls the operation by providing a movement route of the unmanned vehicle based on the position identified using the identification ID of the lighting device, and visible light communication that can identify and monitor the position and the operation state of the unmanned vehicle in real time. It relates to an unmanned vehicle control system using a.
More specifically, a plurality of lighting devices for outputting visible light including the identification ID, when the visible light is received, transmits the identification ID and the driving status information included in the received visible light to the server, the movement set based on the current position from the server Receives an illumination map matched with a guide path and a movement guide path, and monitors the movement path of the unmanned vehicle using an unmanned vehicle running according to the received movement guide path and an identification ID received from the unmanned vehicle in real time. It relates to an unmanned carrier control system using visible light communication, characterized in that it comprises a server.

Description

System for controlling Automated Guided Vehicle using Visible Light Communication}

The present invention controls the operation by providing a movement route of the unmanned vehicle based on the position identified using the identification ID of the lighting device, and visible light communication that can identify and monitor the position and the operation state of the unmanned vehicle in real time. It relates to an unmanned vehicle control system using a.

More specifically, a plurality of lighting devices for outputting visible light including the identification ID, when the visible light is received, transmits the identification ID and the driving status information included in the received visible light to the server, the movement set based on the current position from the server Receives an illumination map matched with a guide path and a movement guide path, and monitors the movement path of the unmanned vehicle using an unmanned vehicle running according to the received movement guide path and an identification ID received from the unmanned vehicle in real time. It relates to an unmanned carrier control system using visible light communication, characterized in that it comprises a server.

In general, an unmanned conveying system is used to automate the loading and transport of goods, using an unmanned conveying vehicle. Such an unmanned carrier should be able to recognize and drive the exact position on the driving path that the vehicle moves in order to drive the vehicle automatically.

Accordingly, in an unmanned transport system, an unmanned transport vehicle, that is, an AGV (Automated Guided Vehicle) conveys a load while moving to a desired position according to a wired or wireless guided method.

Here, the wired induction method is a technology that installs an object (magnetic, guide line, optical tape, spot, etc.) to be detected by the sensor on the floor and detects it to guide the unmanned vehicle along the driving line. Accordingly, when the driving line is changed each time, the replacement is necessary, and if the sensor is not positioned in the vertical direction of the object position, the exact position between the unmanned vehicle and the sensor array cannot be determined.

On the other hand, the wireless induction method does not create a route on the floor, but generates a virtual route in advance, and the current position of the driverless vehicle obtained through the position measuring sensors.

In this way, the receiver or transmitter is installed on the wall, column, or ceiling, and the corresponding transmitter or receiver is installed in the unmanned transport vehicle to induce the unmanned vehicle through the measured coordinates.

Typical wireless induction methods include induction methods using laser navigation and RFID. In this wireless induction method, since there is no induction line, complete autonomous driving is possible, and the change and maintenance of the driving line is flexible.

However, due to wireless induction, position measurement may not be accurate due to obstacles as well as distortion of signals such as refraction of disturbance light of radio waves, and the accuracy may vary depending on the working environment and the characteristics of the receiver installed in the unmanned vehicle. Has a disadvantage of being large.

Accordingly, there is a need for an unmanned vehicle control system that can flexibly change and maintain a running line, monitor the exact position of the unmanned vehicle in real time, and control the operation.

1. Korea Registered Patent No. 1308777 (announced Sep. 17, 2013)

An object of the present invention, by using the identification ID of the lighting device based on the location identified by the moving path of the unmanned vehicle to control the operation, the location and operating state of the unmanned vehicle can be identified and monitored in real time To provide an unmanned vehicle control system using visible light communication.

The unmanned vehicle control system using visible light communication according to an embodiment of the present invention for achieving the above object is a plurality of lighting devices for outputting visible light including the identification ID, when the visible light is received, included in the received visible light It transmits the identification ID and driving status information to the server, receives the movement guide route and the illumination map matched to the movement guide route set based on the current position from the server, and the unmanned transport vehicle which operates according to the received movement guide route And it may include a server for monitoring the movement path of the unmanned vehicle using the identification ID received in real time from the unmanned vehicle.

In addition, the unmanned vehicle, the sudden stop on the movement route occurs and transmits a notification message to the server, the server, when the notification message is received, the location information and the accident situation check request of the unmanned vehicle, the manager terminal Can be sent to.

In addition, the unmanned transport vehicle, the camera for measuring the illuminance to receive the visible light, the state detection unit for generating the status information by detecting the movement or stop, the moving direction and the moving speed and the identification ID included in the visible light, the measured illuminance And a controller for transmitting status information to the server.

In addition, the unmanned transport vehicle further includes a sudden situation detection unit for detecting an obstacle and a shock sensor having a proximity sensor and a shock sensor, and the controller suddenly stops the driving when the obstacle recognition and shock detection, the front photographing of the camera A notification message including the image obtained through the transmission may be transmitted to the server.

In addition, the unmanned transport vehicle is provided with a manual switch for restarting the operation, and the control unit broadcasts a preset message (progress of a sudden situation or resumption of operation) when the operation is suddenly stopped due to an unexpected situation or restarted by manual switch-on. By notifying the accident situation or the resumption of the situation to the neighbor unmanned carriers existing within the preset distance range, and stops when receiving the accident situation notification from the neighboring neighbor unmanned carriers, it is possible to resume the operation when receiving the restart status notification.

In addition, the lighting apparatus outputs visible light further including a speed deceleration weight set in accordance with a sudden change in the ground height on the moving path, and the unmanned vehicle is pre-set according to the weight bias and the loading weight generated when the direction change. It is possible to control the operation at a uniform moving speed by applying a predetermined speed deceleration weight and a preset speed deceleration weight according to the ground height change to the current driving speed.

In addition, the server stores the illumination map for position recognition by applying the illumination value for each identification ID of the lighting device and the ground height of the movement path, and the lighting device corresponding to the sudden change position of the ground height is used to change the degree of rapid change. According to the preset speed acceleration and weight,

The lighting device that has received the speed deceleration weight may output visible light including the received speed deceleration weight.

In addition, the server may request a situation check by transmitting the image and the incident situation location information included in the notification message to the administrator terminal.

In addition, the server identifies the real-time location on the pre-stored lighting map using the identification ID and illuminance received from the unmanned carrier, and maps the indicator including the state information in the real-time location to the lighting map of the unmanned carrier Real-time movement can be monitored.

In addition, the camera is photographed and driven at the time of shock detection and movement detection to obtain an image, and object recognition analysis of the acquired image to recognize the obstacle, the controller suddenly stops the operation when the obstacle recognition and shock detection, the camera The notification message including the image obtained through the forward photographing of the may be transmitted to the server.

As described above, according to the present invention, the unmanned vehicle control system using visible light communication of the present invention controls the operation by providing a movement route of the unmanned vehicle based on the position identified using the identification ID of the lighting apparatus. In addition, the location and operation of the unmanned vehicle can be identified and monitored in real time.

As a result, line changes and maintenance are flexible and the exact location of the unmanned vehicle can be monitored in real time.

In addition, when a sudden situation (shock, obstacle detection) occurs on the moving path, and suddenly stop, the server and the administrator terminal may notify the situation check. In addition, it is possible to prevent the secondary outbreak by notifying the stop state according to the outbreak situation by the neighboring unmanned carrier.

In addition, when the movement speed change is predicted according to the ground height of the movement path and the state of the unmanned vehicle (weight bias, loading weight), it is possible to control the operation at a uniform movement speed by applying a predetermined speed acceleration and weight.

In addition, it is possible to grasp a plurality of unmanned carrier operation states at a glance by providing a real-time position and state of the unmanned vehicle on a light map.

1 is a view showing a schematic configuration of an unmanned vehicle control system using visible light communication according to an embodiment of the present invention.
2 is a block diagram showing the configuration of the lighting apparatus of FIG.
3 is a block diagram showing the configuration of the unmanned carrier of FIG.
4 is a view for explaining the position detection using the identification ID and the illumination of the lighting apparatus according to an embodiment of the present invention.
5 is a block diagram showing the configuration of the server of FIG.
6 is a diagram illustrating a monitoring screen of a server according to an exemplary embodiment.

The terms or words used in this specification and claims are not to be construed as limiting in their usual or dictionary meanings, and the inventors may appropriately define the concept of terms in order to best describe their invention. It should be interpreted as meaning and concept corresponding to the technical idea of the present invention based on the principle that the present invention.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only one of the most preferred embodiments of the present invention and do not represent all of the technical idea of the present invention, various equivalents that may be substituted for them at the time of the present application It should be understood that there may be water and variations.

Before describing the present invention with reference to the drawings, it is not shown or specifically described for the matters that are not necessary to reveal the gist of the present invention, that is, those skilled in the art can obviously add. Make a note.

1 is a view showing a schematic configuration of an unmanned vehicle control system using visible light communication according to an embodiment of the present invention. Referring to FIG. 1, an unmanned vehicle control system using visible light communication according to an exemplary embodiment of the present invention may include a plurality of lighting devices 100, an unmanned vehicle 200, and a server 300. In FIG. 1, the unmanned carrier 200 shows one, but the unmanned carrier 200 may be a plurality.

The lighting device 100 may be installed on the ceiling or the floor of an indoor space in which the unmanned vehicle 200 may move, and may be installed on the floor of the outdoor space. In this case, the plurality of lighting apparatuses 100 are provided with separate identification IDs, and the identification IDs may be matched with the installation positions of the lighting apparatus 100 and stored in the DB 330 of the server 300.

The lighting device 200 may be used as a general lamp and output visible light including information through visible light communication. 2, the lighting apparatus 100 may include a communication unit 110, a memory 120, a controller 130, and a light emitting unit 140.

The communication unit 110 is a communication module for receiving setting information from the server 300, and may be a wireless communication module such as wifi.

The memory 120 may store setting information received from the server 300, an identification ID, a control program of the light emitter 140, and the like. Here, the setting information may be a predetermined speed accelerating weight and other control information according to a change in the ground height on the moving path, and may be used as an unmanned transport vehicle 200 located at an installation position of the lighting device 200. Only when there is setting information to be transmitted, it can be received and stored from the server 300.

Here, according to the change of the ground height on the movement route, the speed of the preset speed deceleration weight may change rapidly at the position where the ground height changes rapidly, so that the speed is uniformly applied. It is to maintain.

The controller 130 may operate each component according to a control program stored in the memory 120. In particular, the controller 130 may control the light emitter 140 to output visible light including the identification ID and the setting information through on / off switching or light intensity modulation of the digital light emitting device. Here, the light emitting unit 140 may be a light emitting device such as an LED.

When the unmanned carrier 200 receives visible light at the moved or stopped position, the unmanned carrier 200 transmits the identification ID included in the received visible light and the driving state information detected by the unmanned transport vehicle 200 to the server 300, and the server ( Receives a movement guide path and a lighting map matched to the movement guide path set based on the current location from 300, and may operate according to the received movement guide path.

Referring to FIG. 3, the unmanned carrier vehicle 200 according to an embodiment of the present invention includes a communication unit 210, a camera 220, a storage unit 230, a state sensing unit 240, a control unit 250, and a sudden breakdown. The situation detecting unit 260 and the driving speed adjusting unit 270 may be included.

The communicator 210 may include a first communicator for performing wireless communication with the server 300 and a second communicator for performing Zigbee communication with another unmanned carrier.

The camera 220 may receive visible light received from a location where the camera 220 is located, and measure illuminance of the received visible light. In this case, referring to FIG. 4, when the unmanned transport vehicle 200 is located in the area A, visible light may be received from the plurality of lighting apparatuses 100a to 100c. At this time, the identification ID and the measured illuminance included in the received visible light are stored in the storage unit 230, and the controller 250 extracts the identification ID having the largest illuminance, or extracts the illuminance for each ID. 300).

The state detector 240 may generate state information by detecting a movement or stop, a movement direction (straight, rotation), and a movement speed. Thus, the state detecting unit 240 may include a sensor for detecting a state such as an acceleration sensor, a geomagnetic sensor, a gyro sensor, an inclination sensor, a weight sensor, and the like.

* The control unit 250 transmits the identification ID, the measured illuminance and the state information included in the visible light to the server 300 through the first communication unit of the communication unit 210, and based on the current position, the current position identified using the The movement guide path and the illumination map matched with the movement guide path set to the received and stored in the storage unit 230, it is possible to control the driving according to the received movement guide path.

The sudden situation detection unit 260 may stop suddenly when a sudden situation occurs on the movement path and generate a notification message and transmit the generated notification message to the server 300. At this time, the occurrence of the accident can be detected using 1) the impact sensor and the camera 220 or 2) the impact sensor and the proximity sensor.

1) The embodiment using the impact sensor and the camera 220 may be operated as follows. In this case, the sudden situation detection unit 260 may include an impact sensor, and the sudden situation detection unit 260 may receive an obstacle recognition result from the camera 220 and determine it as a sudden situation.

The camera 220 acquires an image when the shock is detected by the impact sensor and when the movement of the unmanned vehicle 200 is detected by the state sensor 240, acquires an image, and analyzes the acquired image to recognize the presence of an obstacle. Can be determined.

On the other hand, 2) the embodiment using the shock sensor and the proximity sensor can be operated as follows. In this case, the accident detection unit 260 may include an impact sensor and a proximity sensor, and may determine that the accident occurs when an impact is detected or an object proximate to a predetermined distance is detected.

The controller 250 may suddenly stop the operation when the obstacle is recognized and the shock is detected, that is, when the sudden situation is determined, and may transmit a notification message including an image obtained through the photographing of the camera 220 to the server 300.

On the other hand, the unmanned carrier vehicle may be provided with a manual switch for stopping or resuming driving. In case of an accident, the operation is suddenly stopped by the switch-off, and the operation can be resumed when the manual switch is turned on by the administrator.

When the operation is suddenly stopped due to the occurrence of an accident or the operation is resumed by manual switch-on, the controller 250 broadcasts a preset message (provision of an accident or resumes operation) to a neighboring unmanned carrier that exists within a preset distance range or You can be notified of the resumption of operation. On the other hand, the control unit 250 may stop when receiving a sudden notification from the neighboring unmanned carriers, it may resume the operation upon receiving the restarting situation notification.

Thus, the administrator may be notified of the occurrence of the accident by requesting a situation check, and the secondary occurrence of the accident may be prevented.

The driving speed controller 270 may adjust the driving speed to predict the sudden change in the driving speed and apply the speed deceleration weight so as to travel at the uniform moving speed. At this time, the sudden change in the running speed may occur when the weight shift, the loading weight, the ground level on the movement path suddenly changed when the change of direction. Accordingly, the speed deceleration weight is set for each occurrence situation, and the speed deceleration weight is extracted from the state (weight bias, loading weight) determined by the state detection unit 240 and the setting information included in the visible light, and the current speed is extracted. It can be applied to control the operation at uniform movement speed.

For example, the weight bias, load weight, and ground height change (travel speed sudden change prediction parameter) that can be driven at the reference driving speed are set as the reference value, and the reference value and the state value (the state determined by the state sensing unit 240) Weighting level) can be set as follows. Meanwhile, the weight may be set for each parameter.

Degree of addition and decrease Velocity Acceleration Weight -2 0.05 -One 0.03 0 (reference value) 0 One -0.03 2 -0.05

In this case, the driving control speed V1 may be a value obtained by adding the weight W to the current moving speed V and the current moving speed V detected by the state detection unit 240. That is, V1 = V ± V * W. This is one example, and the driving control speed may be calculated by applying a weight to another calculation method.

On the other hand, the server 300 may monitor the movement path of the unmanned vehicle using the identification ID received in real time from the unmanned vehicle. 5 is a block diagram showing the configuration of the server of FIG. Referring to FIG. 5, the server 300 may include a communication unit 310, a setting unit 320, a DB 330, a monitoring unit 340, and a sudden processing unit 350.

The communication unit 310 may be a wireless communication module such as wifi for performing communication with the lighting device 100 and the unmanned vehicle 200.

The setting unit 320 may receive setting information to be transmitted to the lighting apparatus 100 and the unmanned vehicle 200 from the manager and store the setting information in the DB 300. In this case, the setting information may be information for generating an illumination map (installation location for each identification ID, ground height, etc.), identification code of the unmanned transport vehicle 200, and movement path setting according to the purpose. In addition, the setting unit 320 may set the speed accel / decel weight according to the degree of rapid change in the ground height included in the illumination map. In this case, by transmitting the speed deceleration weight set to the lighting device 100 of the corresponding position, the lighting device 100 may transmit the weight when outputting visible light.

The DB 330 may store setting information set by the setting unit 320, an illumination map (applied by the acceleration / deceleration weight according to the change of the ground height), and the position and state information of the real time unmanned vehicle 200.

At this time, the illumination map may be a three-dimensional map applying the illumination value for each identification ID mapped to the installation position of the lighting device and the ground height of the movement path. In this case, the exact coordinates (x, y) of the unmanned vehicle 200 can be extracted according to the magnitude of the illumination value for each identification ID, and the ground height z of the corresponding position can be determined.

When the monitoring unit 340 receives the identification ID and the status information from the unmanned vehicle 200, it may determine the location using the identification ID, and may determine the status from the status information. The monitoring unit 340 may transmit the movement guide path to the unmanned vehicle 200 to guide the movement to the destination set based on the identified position.

At this time, the monitoring unit 340 detects the real-time location on the pre-stored lighting map by using the identification ID and illuminance received from the unmanned carrier 200, and maps the indicator including the state information to the lighting map in real-time location. Real time movement of the unmanned carrier 200 may be provided through a monitoring screen.

Referring to FIG. 6, the location and state information of the plurality of unmanned carriers 200a to 200f are displayed on the illumination map 10, and it can be seen that they are captured at a glance. At this time, the indicator unmanned vehicle 200a having a sudden situation may be displayed blinking, and may provide the corresponding detailed information (identification ID, installation location, status information, accident situation image, etc.) when moving the cursor.

On the other hand, the neighboring unmanned carriers 200b to 200d in the preset distance range 20 based on the unmanned carrier 200a in which the unexpected condition is generated are notified of the occurrence of the unexpected situation from the unmanned carrier 200a and stopped. Can be In this case, the stopped neighboring unmanned carriers 200b to 200d may transmit a stationary situation by the neighboring unmanned carrier 200a to the server 300 (not transmitted), and the monitoring unit 340 may detect the stopped state. It can provide the applied monitor screen.

When the unexpected situation processing unit 350 receives a notification message according to the occurrence of the unexpected situation from the unmanned transport vehicle 200, the situation check by transmitting the image and the incident location information included in the notification message to the administrator terminal (not shown) You can request Accordingly, the manager can solve the accident situation through the situation check, and restart the operation by turning on the manual switch.

In addition, what was described above using FIG. 1 thru | or 6 described only the main matter of this invention, As long as various designs are possible within the technical range, this invention is not limited to the structure of FIGS. Is self explanatory.

100: lighting device 200: unmanned carrier
300: server 110: communication unit
120: memory 130: controller
140: light emitting unit 210: communication unit
220: camera 230: storage
240: state detection unit 250: control unit
260: sudden situation detection unit 270: driving speed control unit
310: communication unit 320: setting unit
330: DB 340: monitoring unit
350: accidental situation processing unit

Claims (10)

A plurality of lighting devices for outputting visible light including the identification ID;
When the visible light is received, the identification ID included in the received visible light and its driving status information are transmitted to the server, and the moving guide path and the illumination map matched to the moving guide path set based on the current location are received from the server. An unmanned carrier driving along the received movement guide path; And
And a server for monitoring a movement path of the unmanned vehicle using an identification ID received in real time from the unmanned vehicle,
The unmanned carrier,
A camera for measuring illuminance by receiving the visible light;
A state detecting unit generating state information by detecting a moving or stopping state, a moving direction, and a moving speed;
A control unit for transmitting the identification ID, the measured illuminance, and the state information included in the visible light to the server; And
It further includes a sudden situation detection unit having a proximity sensor and a shock sensor for detecting the obstacle recognition and impact,
The control unit,
-Stops the driving at the time of the obstacle recognition and shock detection, and transmits a notification message including the image obtained through the front photographing of the camera to the server,
-When the operation is resumed by sudden stop due to the occurrence of a sudden situation or by turning on the manual switch provided in the unmanned vehicle, the neighbor unmanned within the range of the predetermined distance by broadcasting a preset message including the occurrence of the sudden situation or restarting the operation. To notify of accidents or resumptions by car, stop when receiving accidents from neighboring unmanned carriers, resume operation when receiving resumption notifications, and prevent secondary accidents from occurring.
The server, the unmanned carrier control system using visible light communication, characterized in that for requesting a situation check by transmitting the image and the incident situation location information included in the notification message to the administrator terminal.
The method of claim 1,
The unmanned carrier,
When a sudden situation occurs on the movement route, it stops suddenly and sends a notification message to the server.
The server, when the notification message is received unmanned carrier control system using visible light communication, characterized in that for transmitting the location information and the unexpected situation check request of the unmanned vehicle to the manager terminal.
delete delete delete The method of claim 1,
The lighting device outputs visible light further including a preset speed accelerating weight according to a change in ground depth on a movement path,
The unmanned carrier,
Visible light communication, characterized in that to control the operation at a uniform moving speed by applying a predetermined speed deceleration weight according to the weight bias and loading weight generated during the change of direction, the speed deceleration weight set in accordance with the change of the ground height to the current running speed Unmanned carrier control system using
The method of claim 1,
The server,
The illumination map for position recognition is pre-stored by applying the illumination value for each identification ID of the lighting device and the ground height of the moving path, and the speed is set to the lighting device corresponding to the sudden change position of the ground height. Send weights,
The illumination device receiving the speed ramping weights outputs visible light including the received speed ramping weights.
delete The method of claim 1,
The server,
Using the identification ID and illuminance received from the unmanned carrier, grasp the real-time position on the previously stored lighting map, and monitor the real-time movement of the unmanned carrier by mapping the indicator including the state information in the real-time position to the light map Unmanned carrier control system using visible light communication, characterized in that.
The method of claim 1,
The camera,
When the shock is detected and the movement is detected, the image is driven to acquire an image, and the object is analyzed to recognize the obstacle to recognize the obstacle.
The control unit,
The vehicle is unmanned carrier control system using visible light communication, characterized in that the sudden stop of the operation when the obstacle recognition and shock detection, and transmits a notification message including an image obtained through the front photographing of the camera to the server.

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