KR102166280B1 - Vehicle body fixing system using wireless sensor and BLE(Bluetooth Low Energy) communication method thereof - Google Patents

Abstract

Disclosed are a vehicle body fixing system using a wireless sensor and a BLE communication method thereof. The vehicle body fixing system using a wireless sensor includes: a BLE tag including a sensor that detects forward or backward movement of a piston of a cylinder, and a BLE communication module for broadcasting an advertising packet including information indicating that the forward or backward movement is detected according to a set transmission period when forward or backward movement is detected; and a BLE access point for receiving the broadcast advertising packet. The transmission period is set as a preset long period or a preset short period according to an event that occurs, is set as a long period when an operation of the BLE tag starts, and is changed to a short period when forward or backward movement is detected.

Description

A vehicle body fixing system using a wireless sensor and a BLE communication method thereof TECHNICAL FIELD [0002] A vehicle body fixing system using a wireless sensor and a BLE (Bluetooth Low Energy) communication method thereof

The present invention relates to a vehicle body fixing system using a wireless sensor and a BLE communication method thereof.

In general, automobiles are a press process that forms a frame and a body panel, a body assembly process that joins the frame and a body panel using a welding robot, a painting process that paints the vehicle body, and a design that completes the vehicle by attaching various parts to the vehicle body. It is manufactured through an inspection process that performs various inspections on the process, performance, safety, and quality of the completed vehicle.

Among these automobile manufacturing processes, the body assembly process is a fully automated process using a welding robot. That is, in the vehicle body assembly process, the moving means for moving the vehicle body moves to supply the vehicle body to the working area of the welding robot, and the welding position coordinate value is input to the welding robot. At this time, the vehicle body is fixed by a fixing jig on the moving means.

When the vehicle body enters the work area of the welding robot, a confirmation signal that the vehicle body is locked to the jig and ready for welding should be transmitted to the welding robot. To generate the confirmation signal, the fixing jig is placed in a fixed position or a release position. The position of the piston of the cylinder moving to is sensed. In order to connect the sensor that senses the movement of the piston of the cylinder to the control device of the welding robot, it is necessary to wire 2 power lines and 1 data line per sensor.

Such wiring work has a problem in that the flexibility of the vehicle body assembly process is reduced, high work man-hours are required, and there is a possibility that the operation may be stopped due to disconnection.

Korean Registered Patent Publication No. 10-1326816 (2013.11.01)

The present invention is a vehicle body fixing system using a wireless sensor that transmits a sensing signal to a controller using Bluetooth Low Energy (BLE) communication technology when the piston position of the cylinder moving the vehicle body fixing jig to the fixed or released position is sensed, and its It is to provide a BLE communication method.

According to an aspect of the present invention, a vehicle body fixing system using a wireless sensor using BLE (Bluetooth Low Energy) communication is disclosed.

A vehicle body fixing system using a wireless sensor according to an embodiment of the present invention includes a sensor for detecting the forward or backward movement of the piston of the cylinder, and information indicating that the forward or backward is detected when the forward or backward is detected. An event in which a BLE tag including a BLE communication module that broadcasts an advertising packet according to a set transmission period and a BLE access point that receives the broadcast advertising packet, wherein the transmission period occurs According to a preset long period or a preset short period, when the operation of the BLE tag starts, the long period is set, and when the forward or backward is detected, the short period is changed and set.

The transmission period is set to the short period, a timeout of the fast advertising mode in which the transmission period is set to a short period occurs, or a scan request packet from a previously registered device When is received, it is set to be changed to the long period.

The vehicle body fixing system using the wireless sensor controls a cylinder for moving the vehicle body fixing jig to a fixed position or an unlocked position by moving a vehicle body fixing jig for fixing the vehicle body, a piston connected to the vehicle body fixing jig forward or backward, and the cylinder Further comprising a controller, wherein the sensor is a magnetic field detection sensor that detects a magnetic field generated from a magnet, the magnet is coupled to the piston, and the BLE tag including the magnetic field detection sensor is one of one end and the other end of the cylinder It is coupled to any one part, and the fixing and disengagement of the vehicle body fixing jig is sensed by a change in whether the magnetic field detection sensor detects the magnetic field.

The BLE tag includes a first BLE tag coupled to one end of the cylinder and a second BLE tag coupled to the other end of the cylinder, and when a magnet coupled to the piston is located at one end of the cylinder, the first BLE tag When the fixing of the vehicle body fixing jig is sensed through the magnetic field detection sensor of the tag, and the magnet coupled to the piston is located at the other end of the cylinder, the release of the vehicle body fixing jig is performed through the magnetic field detection sensor of the second BLE tag. Is sensed.

According to another aspect of the present invention, a vehicle body fixing jig for fixing a vehicle body, a cylinder for moving the vehicle body fixing jig to a fixed position or an unlocked position by moving the piston connected to the vehicle body fixing jig forward or backward, and the cylinder are coupled to the cylinder. In a vehicle body fixing system using a wireless sensor including a BLE (Bluetooth Low Energy) tag for detecting the forward or reverse of a piston, a BLE communication method performed by the BLE tag is disclosed.

In the BLE communication method according to the embodiment of the present invention, the operation starts when the power is turned on, and the transmission mode of the advertising packet is set to a slow add having a long transmission period of the advertising packet. Setting to a verticalizing mode, maintaining a sleep state waiting until the forward or reverse is detected, and when the forward or reverse is detected, the transmission mode is set to an advertising packet Setting to a fast advertising mode in which the transmission period of is short, and when the transmission period is reached, broadcasting an advertising packet including information indicating that the forward or backward is detected Includes.

In the BLE communication method, in the fast advertising mode, a timeout of the fast advertising mode occurs or a scan request packet is received from a previously registered device. If so, further comprising the step of setting the transmission mode to the slow advertising mode.

A vehicle body fixing system and a BLE communication method thereof using a wireless sensor according to an embodiment of the present invention, when a piston position of a cylinder moving a vehicle body fixing jig to a fixed position or an unlocked position is sensed, a Bluetooth Low Energy (BLE) communication technology is used. By using the sensor to transmit the sensing signal to the controller, the sensor is wirelessly connected, no wiring work is required, and the work man-hour of the vehicle body assembly process can be reduced.

1 is a view schematically illustrating the configuration of a vehicle body fixing system using a wireless sensor according to an embodiment of the present invention.
2 is a view showing an example of the installation concept of a vehicle body fixing system using a wireless sensor according to an embodiment of the present invention.
3 is an enlarged view of a BLE (Bluetooth Low Energy) tag mounted on a cylinder of a vehicle body fixing system using a wireless sensor according to an embodiment of the present invention.
4 is a diagram schematically illustrating the configuration of a BLE tag according to an embodiment of the present invention.
5 is a flowchart illustrating a BLE communication method performed by a BLE communication module according to an embodiment of the present invention.

Singular expressions used in the present specification include plural expressions unless the context clearly indicates otherwise. In the present specification, terms such as “consisting of” or “comprising” should not be construed as necessarily including all of the various elements or various steps described in the specification, and some of the elements or some steps It may not be included, or it should be interpreted that it may further include additional elements or steps. In addition, terms such as "... unit" and "module" described in the specification mean units that process at least one function or operation, which may be implemented as hardware or software, or as a combination of hardware and software. .

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

1 is a diagram schematically illustrating a configuration of a vehicle body fixing system using a wireless sensor according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating an installation concept of a vehicle body fixing system using a wireless sensor according to an embodiment of the present invention 3 is an enlarged view of a BLE (Bluetooth Low Energy) tag mounted on a cylinder of a vehicle body fixing system using a wireless sensor according to an embodiment of the present invention, and FIG. 4 is a diagram illustrating an embodiment of the present invention. It is a diagram schematically illustrating the configuration of a BLE tag according to the present invention. Hereinafter, a system for fixing a vehicle body using a wireless sensor according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4.

First, referring to FIG. 1, a vehicle body fixing system using a wireless sensor according to an embodiment of the present invention includes a vehicle body fixing jig 10, a cylinder 20, a controller 30, and a Bluetooth Low Energy (BLE) tag 40. ) And a BLE access point 50.

The vehicle body fixing jig 10 serves to fix the vehicle body on a moving means that moves the vehicle body to the work area of the welding robot in the vehicle body assembly process during the vehicle manufacturing process.

The cylinder 20 serves to move the vehicle body fixing jig 10 to a fixed position or an unlocked position. That is, the cylinder 20 may move the vehicle body fixing jig 10 to a fixed position or an unlocked position by moving the piston 21 forward or backward by pneumatic or hydraulic pressure.

For example, referring to FIG. 2, a plurality of vehicle body fixing jigs 10 may be installed on the vehicle body moving means, and the piston 21 of the cylinder 20 is connected to each vehicle body fixing jig 10 to be installed. I can.

The controller 30 controls the forward and backward movement of the piston 21 of the cylinder 20 in order to fix or release the vehicle body with the vehicle body fixing jig 10.

For example, the controller 30 is a device that controls the overall vehicle body assembly process, and not only controls the supply of hydraulic pressure or pneumatic pressure to the cylinder 20, but also works when the vehicle body fixing by the vehicle body fixing jig 10 is confirmed. It is possible to control the welding robot to weld the part to be welded on the vehicle body located in the zone.

The BLE tag 40 detects the position of the piston 21 of the cylinder 20, and when the position of the piston 21 is detected, information indicating the position of the detected piston 21 is transmitted in an advertising packet (Advertising Packet), and broadcasts an advertising packet.

Referring to FIG. 4, the BLE tag 40 includes a magnetic field detection sensor 45 and a BLE communication module 47.

The magnetic field detection sensor 45 is a sensor that detects a magnetic field generated by the magnet 22, and may be, for example, a hall sensor or a reed switch.

3, the BLE tag 40 according to the embodiment of the present invention includes a first BLE tag 41 coupled to one end of the cylinder 20 and a second BLE tag coupled to the other end of the cylinder 20 ( 42).

In addition, one end of the piston 21 is connected to the vehicle body fixing jig 10, and the magnet 22 is coupled to the other end of the piston 21. So, when the piston 21 advances to the outside of the cylinder 20 and moves the vehicle body fixing jig 10 to a fixed position, the magnet 22 coupled to the piston 21 is located at one end of the cylinder 20, and On the contrary, when the piston 21 moves backward into the cylinder 20 and moves the vehicle body fixing jig 10 to the released position, the magnet 22 coupled to the piston 21 is located at the other end of the cylinder 20.

That is, the magnetic field detection sensor 45 of the first BLE tag 41 can detect the magnetic field of the magnet 22 when the magnet 22 coupled to the piston 21 is located at one end of the cylinder 20 , The magnetic field detection sensor 45 of the second BLE tag 42 may detect the magnetic field of the magnet 22 when the magnet 22 coupled to the piston 21 is positioned at the other end of the cylinder 20.

Therefore, the fixing of the vehicle body fixing jig 10 is sensed through the magnetic field detection sensor 45 of the first BLE tag 41, and the vehicle body fixing jig ( 10) can be sensed.

According to another embodiment of the present invention, in order to sense the fixation and release of the vehicle body fixing jig 10, only one magnetic field detection sensor 45 may be used, and thus only one BLE tag 40 may be used.

That is, when only one magnetic field detection sensor 45 is used, one BLE tag 40 may be coupled to one of one end and the other end of the cylinder 20. In this case, fixation and release of the vehicle body fixing jig 10 may be sensed by a change in whether or not the magnetic field detection sensor 45 detects the magnetic field.

For example, when one BLE tag 40 is coupled to one end of the cylinder 20, the magnet 22 coupled to the piston 21 is positioned at one end of the cylinder 20 to detect a magnetic field sensor 45 When the magnetic field is detected by the magnetic field, the fixing of the vehicle body fixing jig 10 is sensed, and the magnet 22 coupled to the piston 21 is located at the other end of the cylinder 20, and thus the magnetic field is detected by the magnetic field detection sensor 45. If not detected, the loosening of the vehicle body fixing jig 10 may be sensed. Likewise, when one BLE tag 40 is coupled to the other end of the cylinder 20, the magnet 22 coupled to the piston 21 is located at the other end of the cylinder 20, and is thus provided by the magnetic field detection sensor 45. When the magnetic field is detected, the loosening of the vehicle body fixing jig 10 is sensed, and the magnet 22 coupled to the piston 21 is located at one end of the cylinder 20 so that the magnetic field is not detected by the magnetic field detection sensor 45 If so, the fixing of the vehicle body fixing jig 10 may be sensed.

However, in actual application, when only one magnetic field detection sensor 45 is used, there is a possibility that the sensing of fixing and disengaging of the vehicle body fixing jig 10 may be inaccurate, so to improve the sensing accuracy, as described above, Two magnetic field detection sensors 45 are applied so that the first BLE tag 41 and the second BLE tag 42 may be coupled to one end and the other end of the cylinder 20, respectively.

Meanwhile, according to another embodiment of the present invention, instead of the magnetic field detection sensor 45 described above, a proximity sensor (not shown) may be applied.

As for the proximity sensor, as in the case where the magnetic field detection sensor 45 described above is applied, a pair or one may be used.

That is, when a pair of proximity sensors are used, the first BLE tag 41 and the second BLE tag 42 including the proximity sensor are coupled to one end and the other end of the cylinder 20, respectively. By sensing the proximity, forward and backward movement of the piston 21 is sensed, so that fixing and disengagement of the vehicle body fixing jig 10 can be sensed.

And, when one proximity sensor is used, one BLE tag 40 including the proximity sensor is coupled to either one of one end and the other end of the cylinder 20 to sense the proximity of the piston 21 of the proximity sensor. Whether or not the vehicle body fixing jig 10 is fixed and released may be sensed.

In this way, the vehicle body fixing system using a wireless sensor according to an embodiment of the present invention detects the advance and reverse of the piston 21 of the cylinder 20 to move the vehicle body fixing jig 10 to a fixed position or an unlocked position. At least one sensor may be provided, and the provided sensor is one magnetic field detection sensor 45. It may be a pair of magnetic field detection sensors 45, one proximity sensor, or a pair of proximity sensors.

Hereinafter, for convenience of understanding and description, a pair of magnetic field detection sensors 45 are applied to a vehicle body fixing system using a wireless sensor according to an embodiment of the present invention, and the first BLE tag 41 and the second BLE It will be described on the assumption that the tag 42 is coupled to one end and the other end of the cylinder 20, respectively.

When the magnetic field detection sensor 45 of the first BLE tag 41 or the second BLE tag 42 detects a magnetic field, the BLE communication module 47 includes information indicating that the magnetic field is detected, and the first BLE tag 41 or After the tag identification information of the second BLE tag 42 is included in the advertising packet, the advertising packet is broadcast according to a set transmission period. If only one magnetic field detection sensor 45 is used, the advertising packet may include information indicating a change in whether a magnetic field is detected, such as detection or non-detection of a magnetic field.

For example, the BLE communication module 47 may include a battery as operating power, and the advertising packet may include battery amount information. In addition, the tag identification information may be the MAC address of the BLE tag 40.

Here, the transmission period of the advertising packet may be set to a preset long period or a preset short period according to an event to occur.

For example, the transmission period of the advertising packet may be set to a long period when the operation of the BLE communication module 47 starts, and when a magnetic field is detected by the magnetic field detection sensor 45, the transmission period is changed to a short period. Can be. In addition, the transmission period of the advertising packet is set to a short period, and a timeout in the fast advertising mode in which the transmission period is set to a short period occurs, or a scan request packet from a previously registered device. When (Scan Request Packet) is received, it can be changed and set in a long period. Here, the previously registered device may be the BLE access point 50.

The BLE access point 50 communicates with a plurality of BLE communication modules 47 through BLE communication.

In particular, the BLE access point 50 receives an advertising packet including information indicating that a magnetic field has been detected and tag identification information from a plurality of BLE tags 41 mounted on each of the plurality of cylinders 20.

For example, the BLE access point 50 may recognize a plurality of BLE tags 40 installed on one vehicle body moving means as one group, and may receive a plurality of advertising packets of the recognized group. In addition, the BLE access point 50 may extract and store information indicating that a magnetic field has been detected and tag identification information from each advertising packet.

The BLE access point 50 transmits the information included in the advertising packet to the controller 30 through a wire.

When the controller 30 receives the information included in the plurality of advertising packets from the BLE access point 50, it can check whether the vehicle body is fixed by each vehicle body fixing jig 10 using the received information.

For example, the controller 30 controls the vehicle body to be fixed by the vehicle body fixing jig 10 by advancing the piston 21 of the cylinder 20, and then confirming the information received from the BLE access point 50 If the vehicle body is fixed, it is possible to control subsequent operations such as controlling the welding robot to perform welding.

5 is a flowchart illustrating a BLE communication method performed by a BLE communication module according to an embodiment of the present invention.

In step S510, the BLE communication module 47 starts operation as the power is turned on, and sets the transmission mode of the advertising packet to a slow advertising packet in which the transmission period of the advertising packet is long. Set to gong mode.

In step S520, the BLE communication module 47 maintains a sleep state that waits without operating until a magnetic field detection signal is generated from the magnetic field detection sensor 45.

In step S530, the BLE communication module 47 determines whether a magnetic field is detected by the magnetic field detection sensor 45.

That is, when the magnetic field detection sensor 45 detects the magnetic field of the magnet 22 coupled to the piston 21, the magnetic field detection signal indicating that the magnetic field has been detected may be transmitted to the BLE communication module 47.

For example, when the magnetic field detection sensor 45 of the first BLE tag 41 senses the magnetic field of the magnet 22 located at one end of the cylinder 20, the fixing of the vehicle body fixing jig 10 can be sensed. In addition, the magnetic field detection sensor 45 of the second BLE tag 42 detects the magnetic field of the magnet 22 located at the other end of the cylinder 20, so that the loosening of the vehicle body fixing jig 10 may be sensed.

In step S540, when the magnetic field is detected by the magnetic field detection sensor 45, the BLE communication module 47 sets the transmission mode of the advertising packet to a fast advertiser having a short transmission period of the advertising packet. Set to tightening mode.

When the magnetic field is not detected by the magnetic field detection sensor 45, step S550 is entered.

In step S550, the BLE communication module 47 determines whether the transmission mode of the current advertising packet is a fast advertising mode.

In step S560, in the case of the fast advertising mode, the BLE communication module 47 determines whether a timeout of the fast advertising mode has occurred or a scan request packet from a previously registered device. It is determined whether or not is received. Here, the previously registered device may be the BLE access point 50.

If it is not in the fast advertising mode, the process proceeds to step S580.

In step S570, when the timeout of the fast advertising mode occurs or a scan request packet is received from a previously registered device, the BLE communication module 47 slows the transmission mode of the advertising packet. Set to gong mode.

If the timeout of the fast advertising mode has not occurred and a scan request packet has not been received from a previously registered device, step S580 is entered.

In step S580, the BLE communication module 47 determines whether the transmission period of the current advertising packet has been reached. If the transmission period of the advertising packet has not been reached, step S520 is entered.

In step S590, when the transmission period of the advertising packet reaches the BLE communication module 47, the information indicating that the magnetic field is detected and the tag identification information of the first BLE tag 41 or the second BLE tag 42 Broadcasting an advertising packet including a.

Here, the advertising packet may include battery amount information such as a battery voltage of the BLE tag 40, and the tag identification information may be the MAC address of the BLE tag 40.

Thereafter, the BLE communication module 47 enters step S520 and enters a sleep state.

Meanwhile, the constituent elements of the above-described embodiment can be easily grasped from a process point of view. That is, each component can be identified as a respective process. In addition, the process of the above-described embodiment can be easily grasped from the viewpoint of the components of the device.

In addition, the above-described technical contents may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiments, or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -Optical media (Magneto-optical media), and hardware devices specially configured to store and execute program instructions such as ROM, RAM, Micro-SD card, flash memory, and the like. Examples of the program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

The above-described embodiments of the present invention have been disclosed for the purpose of illustration, and those skilled in the art who have ordinary knowledge of the present invention will be able to make various modifications, changes, and additions within the spirit and scope of the present invention. It should be seen as belonging to the following claims.

10: body fixing jig
20: cylinder
21: piston
22: magnet
30: controller
40: Bluetooth Low Energy (BLE) tag
41: first BLE tag
42: second BLE tag
45: magnetic field detection sensor
47: BLE communication module
50: BLE access point

Claims (6)

In the vehicle body fixing system using a wireless sensor using BLE (Bluetooth Low Energy) communication,
A sensor that detects the forward or backward movement of the piston of the cylinder, and when the forward or backward is detected, a BLE broadcasting an advertising packet including information indicating that the forward or backward is detected according to a set transmission period BLE tag including a communication module; And
Including a BLE access point for receiving the broadcast advertising packet,
The transmission period is set as a preset long period or a preset short period according to an event that occurs, and is set as the long period when the operation of the BLE tag starts, and when the forward or backward is detected, the short period is changed Vehicle body fixing system using a wireless sensor, characterized in that the.
The method of claim 1,
The transmission period is,
In the state set to the short period,
A timeout occurs in the fast advertising mode in which the transmission period is set to a short period, or
When a scan request packet is received from a previously registered device, the vehicle body fixing system using a wireless sensor is changed and set in the long period.
The method of claim 1,
A vehicle body fixing system using the wireless sensor,
A vehicle body fixing jig for fixing the vehicle body;
A cylinder that moves the piston connected to the vehicle body fixing jig forward or backward to move the vehicle body fixing jig to a fixed position or an unlocked position; And
Further comprising a controller for controlling the cylinder,
The sensor is a magnetic field detection sensor that detects a magnetic field generated from a magnet,
The magnet is coupled to the piston,
The BLE tag including the magnetic field detection sensor is coupled to one of one end and the other end of the cylinder,
A vehicle body fixing system using a wireless sensor, characterized in that fixing and disengaging of the vehicle body fixing jig are sensed by a change in whether the magnetic field detection sensor detects a magnetic field.
The method of claim 3,
The BLE tag includes a first BLE tag coupled to one end of the cylinder and a second BLE tag coupled to the other end of the cylinder,
When the magnet coupled to the piston is located at one end of the cylinder, the fixing of the vehicle body fixing jig is sensed through the magnetic field detection sensor of the first BLE tag,
When the magnet coupled to the piston is located at the other end of the cylinder, the release of the vehicle body fixing jig is sensed through a magnetic field detection sensor of the second BLE tag.
A vehicle body fixing jig fixing the vehicle body, a cylinder that moves the vehicle body fixing jig to a fixed position or an unlocked position by moving the piston connected to the vehicle body fixing jig forward or backward, and a cylinder that is coupled to the cylinder to detect the advance or reverse of the piston In a vehicle body fixing system using a wireless sensor including a BLE (Bluetooth Low Energy) tag, in the BLE communication method performed by the BLE tag,
Starting an operation when power is turned on, and setting a transmission mode of an advertising packet to a slow advertising mode in which a transmission period of the advertising packet is long;
Maintaining a sleep state waiting until the forward or reverse is sensed;
Setting the transmission mode to a fast advertising mode in which a transmission period of an advertising packet is short when the forward or backward is detected; And
When the transmission period is reached, broadcasting an advertising packet including information indicating that the forward or reverse is detected.
The method of claim 5,
The BLE communication method,
In the state of the fast advertising mode, when a timeout of the fast advertising mode occurs or a scan request packet is received from a previously registered device, the transmission mode is Setting the slow advertising mode to the BLE communication method, characterized in that it further comprises.

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