KR102212577B1 - Automated guided vehicle path management system and method thereof - Google Patents

Abstract

Disclosed is an unmanned vehicle route management system and method thereof.
An unmanned vehicle route management system according to an embodiment of the present invention recognizes a node ID (Identity) of a node disposed at each point on the guide line while driving along a guide line of a designated transfer route and transmits it to a wireless repeater. When an abnormal node inconsistent with the transport path is detected by assigning the transport path to an automated guided vehicle (AGV) and the AGV, and tracking the movement status of the AGV based on the node ID received through the wireless repeater. And a server that resets a transport path based on the node ID last received from the AGV and transmits it to the AGV.

Description

Unmanned vehicle route management system and its method {AUTOMATED GUIDED VEHICLE PATH MANAGEMENT SYSTEM AND METHOD THEREOF}

The present invention relates to an unmanned transport vehicle route management system and method thereof, and more particularly, to an unmanned transport vehicle route management system and method for scheduling a route of an unmanned transport vehicle based on external input signals and conditional statements.

In general, various parts are assembled on the production line of an automobile factory, and an automated guided vehicle (hereinafter referred to as AGV) is operated for flexible and efficient part transfer. Particularly in the automated production process, stopping the supply of parts during work greatly affects the line stoppage and yield, so it is very important to transfer parts to the right place in a timely manner.

After loading the goods, the AGV moves to the destination by following a guide line installed on the floor. Induction of AGV includes electromagnetic induction, optical induction, or magnetic induction, but relatively economical magnetic induction is widely used in industrial sites.

The AGV is equipped with a sensor that detects the magnetic force of the magnetic guide wire and moves along the path of the part. In the transfer path, a plurality of nodes through which the AGV must pass from the origin to the destination are sequentially set.

However, there is a problem in that the supply of parts is disrupted when the AGV is stopped due to departure (derailment) from the guide line for various reasons such as contact with other objects or the sensor does not properly recognize the magnetic guide line during operation. .

In addition, in the workplace, it is difficult to check the stop events due to the departure of the AGV, and even if the stop of the AGV is confirmed, it is not possible to know the exact location of the node section, so if the location is placed on a node other than the departure location, the designated transport path There is a problem that it is impossible to re-drive due to inconsistency with.

An embodiment of the present invention is a route management system for an unmanned transport vehicle that monitors a stop event by tracking the movement status of an AGV operated in a workplace, and resets and transmits a transport route based on the node last received from the AGV at the time of the stop event, and I want to provide you with that.

According to an aspect of the present invention, an unmanned vehicle route management system recognizes the node ID (Identity) of a node disposed at each point on the guide line while driving along a guide line of a designated transfer route and transmits it to a wireless repeater. Automated Guided Vehicle (AGV); And assigning the transfer path to the AGV, tracking the movement status of the AGV based on the node ID received through the wireless repeater, and detecting an abnormal node inconsistent with the transfer path, the node last received from the AGV. It includes a server that resets the transfer path based on the ID and transmits it to the AGV.

The AGV includes a node recognition module for recognizing the node ID by counting the magnetic poles of the S pole installed in the node; A wireless communication module for transmitting the node ID to the server through a wireless repeater and receiving a transfer path reset by the server; A driving module for generating driving power by operating a motor with power from a battery; A memory for storing at least one transfer path set in the server; And a control module for controlling the driving module by extracting motion information matched with the recognized node ID.

In addition, the driving module may generate the driving force at a moving direction and speed according to motion information set for each node of the transport path.

In addition, when the guide line is not recognized because the control module deviates from the transfer path, it may apply an emergency stop signal to the driving module and display an alarm, generate a stop event message, and transmit it to the server.

In addition, the stop event message may include at least one of an AGV ID, a last recognized node ID, event status information, and an event time.

In addition, the control module may generate a charging event message and transmit it to the server when the charging state of the battery is a low voltage less than a predetermined reference value.

In addition, the server transmits the transfer path set in the AGV, the communication unit for receiving the node ID recognized in the AGV; A route setting unit that selects an AGV when a part supply operation is assigned, checks a starting point as a starting point and an ending point as a destination in a guidance line map (MAP) to set a transfer path of the AGV; A monitoring unit that stores the transport path of the AGV operating in the factory in the database (DB), and monitors the movement condition based on the node ID received from each AGV; A user interface unit that provides a screen for the operator's AGV transport path setting and monitoring; And when an abnormal node in which the node ID received from the AGV does not match the transfer path is detected, an event alert is generated and an alarm to the operator may include a control module.

In addition, the monitoring unit may determine whether the node ID is not present in the set transfer path or if the node ID is received in a different order from the node order of the set transfer path and does not match.

In addition, if the next node ID is not received within a predetermined time after the node ID is finally received from the AGV, the monitoring unit may determine as a stop event of the AGV.

In addition, the user interface includes start-up information at the start and end nodes, branch direction information at the branch point, driving speed, horizontal traverse change information to the left or right, obstacle sensor area, lifting operation information, melody output level, check-in information, A conditional statement-based AGV transfer path can be set by providing charging information, low voltage warning level setting menu, and command list of each menu to the operator.

In addition, the user interface includes the occurrence time and emergency stop, derailment, obstacle collision, wireless communication error, oil leakage warning, pallet presence, difference between AGV external input sensor signal and system status information, pallet coupling defect, At least one event state of the battery low voltage warning may be displayed on the screen.

On the other hand, according to an aspect of the present invention, the AGV route management method of a server that controls an Automated Guided Vehicle (AGV) operated in a factory is: a) Selecting an AGV required for a part transfer operation to select a transfer route Setting and transmitting via a wireless repeater; b) if a node ID recognized during operation is received from the AGV, comparing the received node ID with a transfer path of the AGV to determine whether or not there is an abnormal node according to the matching status; c) generating an event alert and alarming when the node ID is detected as an abnormal node that does not match the transfer path; And d) resetting a transport path based on the node ID last received from the AGV and transmitting it to the AGV.

Further, step c) may include determining that the AGV is a stop event if the next node ID is not received within a predetermined time after the node ID is finally received from the AGV.

In addition, step c) may include receiving a stop event message that has been departed from the transport path and has been emergency stopped from the AGV.

In addition, step d) includes starting information for each node, branch direction information at the branch point, driving speed, horizontal traverse change information to the left or right through the user interface, obstacle sensor area, lifting operation information, melody output level, and check again. It may include the step of resetting the AGV transport path based on the conditional statement by providing information, charging information, low voltage warning level setting menu, and command list of each menu to the operator.

According to an embodiment of the present invention, there is an effect that the server managing the AGV monitors the operation status based on the node information received from the AGV to identify events such as emergency stop, abnormal node driving, and low voltage warning in real time. .

In addition, when AGV is operated to a node or a stop event occurs, unless the AGV is a designated transport route, the transport route is recalculated and transmitted based on the last received node, thereby enabling the operation to be quickly resumed.

In addition, by providing a user interface (UI) that allows the operator to create, modify, and edit the AGV's transport path in consideration of the AGV's moving environment and production line environment, it has the effect of managing a more efficient and safe AGV transport schedule. have.

1 is a network configuration diagram of a route management system for an unmanned transport vehicle according to an embodiment of the present invention.
2 schematically shows the configuration of an AGV and a server according to an embodiment of the present invention.
3 is a conceptual diagram illustrating a left/right branching method and a left/right-transverse driving method of an AGV according to an embodiment of the present invention.
4 shows an example of an AGV real-time control management screen according to an embodiment of the present invention.
5 shows an AGV abnormal state display screen according to an embodiment of the present invention.
6 is a flowchart schematically illustrating a method of managing a route for an unmanned vehicle according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art may easily implement the present invention. However, the present invention may be implemented in various forms and is not limited to the embodiments described herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and similar reference numerals are assigned to similar parts throughout the specification.

Throughout the specification, when a part "includes" a certain component, it means that other components may be further included rather than excluding other components unless otherwise stated. In addition, terms such as "... unit", "... group", and "module" described in the specification mean units that process at least one function or operation, which can be implemented by hardware or software or a combination of hardware and software. have.

Now, a route management system for an unmanned vehicle according to an embodiment of the present invention and a method thereof will be described in detail with reference to the drawings.

1 is a network configuration diagram of a route management system for an unmanned transport vehicle according to an embodiment of the present invention.

Referring to FIG. 1, an unmanned vehicle path management system according to an embodiment of the present invention includes an unmanned vehicle (AGV, 10), a wireless repeater 20, and a server 30.

AGV (10) plays a role of supplying parts by moving to a designated process line along a magnetic (N-pole) guide line designed on the floor of the factory. The guide line forms a network-type map (MAP) branched into several branches. Nodes that can be recognized by the AGV 10 while moving are arranged at each point such as the starting point, connection point, branch point, and end point of the guide line, and through this, the nodes and links of the entire guide line map (MAP) are connected. A containing coordinate system is formed. Hereinafter, a node is marked with "N" and a unique identification number (ID) is included when necessary. The link refers to a unit section in which a node N and another node N adjacent to each other are connected by a guide line.

For example, in FIG. 1, when the AGV 10 located in the parts warehouse loads the parts and moves to N42 (node 42) in the production line through the first path P1, the starting point of the transfer path is N11, and the connection point is N21. N31, branch point can be N32, end point can be N42.

Hereinafter, the AGV 10 will be described assuming a lower traction method of a pallet (bogie), but is not limited thereto, and may be configured in various ways such as a forklift method, a mini-load method, and a front hook traction method.

The wireless repeater 20 is arranged in plural to form a wireless communication network, and relays wireless communication between the AGV 10 and the server 30. For example, the wireless repeater 20 may be configured with a wireless LAN (WiFi), but is not limited thereto, and various wireless communication technologies such as single-hop multi-hop may be used.

The wireless repeater 20 may transmit node identification information (ID) received from the AGV 10 to the server 30 and transmit route information received from the server 30 to the designated AGV 10.

The server 30 is a control system that monitors and manages the movement status of the AGV 10 operated in the factory.

The server 30 interlocks with the Manufacturing Execution System (MES) (not shown) through the in-house network, so that the parts according to the working condition of the production line can be supplied to the right place in a timely manner. Is given.

2 schematically shows the configuration of an AGV and a server according to an embodiment of the present invention.

Referring to FIG. 2, the AGV 10 includes a wireless communication module 11, a node recognition module 12, a driving module 13, a memory 14, and a control module 15.

The wireless communication module 11 transmits the node ID recognized while the AGV 10 is moving to the server 30 through the wireless repeater 20.

In addition, the wireless communication module 11 may receive the transfer path reset by the server 30 through the wireless repeater 20.

The node recognition module 12 recognizes the node ID by counting the magnetics of the S-pole or RFID installed in the node passing through while the AGV 10 moves along the guide line. To this end, the node recognition module 12 may include at least one magnetic sensor and RFID detection means.

The driving module 13 generates a driving force of the AGV 10 by operating a motor with power from a battery (not shown).

The driving module 13 may generate a driving force in the moving direction and speed of the AGV 10 according to motion information (operation command) set for each node of the transport path.

The drive module 13 includes a motor 1 that drives the drive wheel (not shown) of the AGV 10 in the forward or reverse direction, and a motor 2 that rotates the drive wheel in the left or right direction after separating the drive wheel from the vehicle body (pallet). do. Here, the driving wheel is bound to the vehicle body by a fixing pin that is always forward and backward in a cylinder, and when the motor 2 rotates, it may be separated from the vehicle body for a while by releasing the fixing pin and then recombined again.

3 is a conceptual diagram showing a left/right branching method and a left/right-transverse driving method of an AGV according to an embodiment of the present invention.

First, referring to FIG. 3(A), assuming that the AGV 10 moves from N21 to N42, the driving module 13 includes the AGV 10 forward, right branch, forward, left branch, and straight forward. It is driven by motion, and the vehicle body (pallet) of the AGV 10 is switched according to the direction of travel.

Next, referring to FIG. 3B, the driving module 13 may drive the AGV 10 in a motion including only forward, right-transverse, and forward.

At this time, the drive module 13 rotates only the driving wheel to the right through the motor 2 while the vehicle body of the AGV 10 is facing the front, and drives the drive wheel rotated to the right through the motor 1 Can be controlled. On the contrary, the driving module 13 may be operated in a left-to-lateral movement in which the vehicle body is left and only the driving wheel is rotated to the left to move to the left. As an easy example, the above-described left-transverse and right-transverse can be compared to a crab in a tidal flat moving left and right.

The memory 14 stores various programs and data for the operation of the AGV 10.

The memory 14 stores at least one AGV transfer path set in the server 30.

For example, the AGV transfer path is a component supply path that supplies parts received from a warehouse to a production line, a component receiving path that moves from the production line to a warehouse to receive parts, a charging path that moves to a charging station for charging the AGV's battery, etc. May be included.

The control module 15 may include at least one processor and circuit that controls the overall operation of each module of the AGV 10.

When a movement command of the AGV 10 is input, the control module 15 recognizes the designated transfer path and starts the movement of the AGV 10 through the control of the driving module 13.

When the node ID is recognized by the node recognition module 12 during movement by recognizing the N-pole magnetic of the guide line, the control module 15 transmits the recognized node ID to the server 30 through the wireless communication module 11. At this time, the transmitted node ID is used by the server 30 as monitoring information for tracking the movement status of the AGV 10.

In addition, the control module 15 controls the driving module 13 by extracting motion information matched with the recognized node ID from the transfer path. For example, when moving to the first path P1 in FIG. 1, the control module 15 controls a straight motion when the transit point N21 is recognized, controls the right branch motion when N31 is recognized, and when N32 is recognized It controls the left branch motion, and when N42 is recognized, it can be controlled as a stop motion.

In addition, when the control module 15 is separated from the guide line due to various reasons such as physical collision with the outside during movement and the guide line is not recognized, it applies a stop signal to the driving module 13 to display an alarm, and immediately A stop event message is generated and transmitted to the server 30. The stop event message may include its own AGV ID, a last recognized node ID, a last motion (stop) and a stop time.

The control module 15, when the transfer path reset by the server 30 is received after transmitting the stop event message, updates the previously set transfer path to the reset transfer path, and resumes movement when it returns to the guide line.

In addition, the control module 15 may generate a charging event message and transmit it to the server 30 when charging with a low voltage less than a predetermined reference value in the state of charge (SoC) of the battery.

On the other hand, according to an embodiment of the present invention, the server 30 includes a communication unit 31, a path setting unit 32, a monitoring unit 33, a database (DB) 34, and a user interface (UI) 35 , And a control unit 36.

The communication unit 31 is connected to the AGV 10 operating in the factory by wireless communication, transmits a transfer path, and receives a node ID recognized while the AGV 10 is moving.

When a job for supplying parts from the MES to the production line is assigned, the route setting unit 32 checks the starting point and the ending point in the entire guidance line map (MAP) and sets the optimum transfer route. Here, the optimal transport path does not simply mean a path through which the AGV 10 reaches the destination via the shortest node, and because the AGV 10 is an unmanned transport method, the state of the AGV according to the previous motion at each node ( Example; setting of conditional statement-based motion information to move to the next node according to the current vehicle body direction, driving wheel direction, etc., and considering the movable area (space) according to the volume (size) of the part, It means setting up a safe transport path that eliminates the possibility of contact.

On the other hand, when the AGV 10 collides with an obstacle during movement or is separated from the guidance line due to an unexpected external contact, a stop event may occur. At this time, it is preferable to move the AGV (10) to the position where it was first departed and to resume operation. The reason is that the transport path specified in the AGV (10) is set based on conditional statements. This is because it is programmed to take it and continue running to the next node.

However, since workers cannot know the departure position of the AGV 10, if it is not moved to the correct departure location, the order of the nodes at the time of departure and the corresponding motion information are inconsistent with each other, even if it is not the designated transfer path or the designated transfer path. Therefore, the operation of the AGV 10 is impossible.

Therefore, the path setting unit 32 may determine the node ID received from the AGV 10 as an abnormal node deviating from the set transfer path or may reset and transmit the transfer path based on the last received node ID when a stop event occurs. At this time, the path setting unit 32 may recalculate the optimal path from the last confirmed node ID to the destination node ID of the AGV 10.

The monitoring unit 33 stores the transfer path set in the AGV 10 operating in the factory in the DB 34, and monitors the movement condition based on the node ID received from each AGV 10.

The monitoring unit 33 compares whether the node ID received from the AGV 10 exists in the set transfer path and whether the order of reception (recognition) of the node ID matches the set transfer path, and determines whether or not the node ID is abnormal.

If the transfer path set in the AGV 10 and the received node ID do not match, the monitoring unit 33 may determine the node as an abnormal node and request the path setting unit 32 to reset the path.

In addition, the monitoring unit 33 may generate a stop event of the AGV 10 if the node ID is not received within a predetermined time after the node ID is finally received from the AGV 10. In this case, the stop event is generated by the AGV 10 monitoring function of the server 30 separately from the stop event message generated by the AGV 10.

The DB 34 stores various programs and data for the server 30 according to an embodiment of the present invention to manage the path of the AGV 10, and stores information collected and generated according to the operation thereof.

The user interface 35 provides a UI screen of various menus for the operator to set and monitor the transport path of the AGV 10 through the server 30.

The user interface 35 generates a guideline map image installed in the factory and an arrangement coordinate system of nodes graphically, and augments the movement information and event situation of the AGV 10 tracked by the monitoring unit 33 on it. Can be displayed.

4 shows an example of an AGV real-time control management screen according to an embodiment of the present invention.

4, the user interface 35 is an AGV real-time control management system including menus such as AGV status information monitoring, layout setting, AGV information and I/O sensor setting, AGV abnormal status display, AGV traffic control function, etc. Show UI.

The user interface 35 may set a transfer path of the AGV and motion information for each node included in the transfer path through the layout setting screen.

For example, the user interface 35 includes start (start/stop) information at a starting point as a starting point and a destination point node as a destination, branch information at a branch point (left/right branch), speed for each node, and transverse transition information (left-hand side). Traverse/Right-Traverse), obstacle sensor area, lifting operation information (rise/fall, N/A), melody output level, attendance confirmation information (ON/OFF), charging information, low voltage alarm level setting menu and each menu By providing a command list, you can set the AGV transfer path based on conditional sentences.

In addition, FIG. 5 shows an AGV abnormal state display screen according to an embodiment of the present invention.

Referring to Figure 5, the user interface 35 is the occurrence time according to the event occurrence situation of each AGV received or monitored by the AGV and defense buccal, emergency stop, derailment (departure), obstacle collision, wireless communication abnormality, leakage warning, pallet The status of events such as presence or absence, the difference between the signal of the AGV external input sensor and the system status information, the pallet combination failure, and the battery low voltage warning can be displayed on the screen and alarmed to the operator.

The controller 36 controls the overall operation of each unit for AGV path management according to an embodiment of the present invention.

The control unit 36 may execute the functions of each unit by referring to the execution and data of the program stored in the DB 34, and may become the actual control subject.

Therefore, in the description of the route management method for an unmanned vehicle according to an embodiment of the present invention to be described later, since each step (function) processed by the server 30 is performed by the control unit 36, the description thereof will be replaced.

6 is a flowchart schematically illustrating a method of managing a route for an unmanned vehicle according to an embodiment of the present invention.

6, the server 30 according to an embodiment of the present invention selects an AGV required for a part transfer operation, sets the transfer path (S1), and sets the set transfer path through wireless communication. 10). In this case, the server 30 may set AGV, nodes included in the transfer path, and AGV motion information in each node through the layout setting screen of the user interface 35 shown in FIG. 4.

The AGV 10 stores the transfer path received from the server 30 (S3), and starts operation from the starting point (S4).

The AGV 10 transmits the recognized node ID to the server 30 when a node is recognized while moving by being guided by a magnetic guide line (S5).

The AGV 10 moves to the next node by performing motion control matching the node ID in the stored transport path (S7). Here, the motion control may include whether to change the direction of the AGV for moving from the current node to the next node and driving information.

If there is no other event during movement (S8; No), the AGV 10 recognizes the next node and repeats motion control accordingly to stop at the destination.

On the other hand, when an event such as a guide line not being recognized due to departure from the guide line due to various reasons such as a physical collision with an obstacle during movement, the AGV 10 stops emergency (S8; yes) and sends a related event message. It can be generated and transmitted to the server 30 (S9).

On the other hand, when the node ID recognized by the AGV 10 is received (S6), the server 30 compares the received node ID with the transfer path set in the AGV 10 to determine whether or not an abnormal node has been matched. (S10). When the node ID is mismatched with the transfer path and an abnormal node is detected (S10; YES), the server 30 generates an event alert and alarms the operator (S11).

In addition, even if the node ID matches the transfer path, the server 30 may generate an event alert and alarm the operator when an event message is received from the AGV 10 (S9) (S11).

When the event occurs, the server 30 checks the node ID last received from the AGV 10 (S12), resets the transfer path to the destination based on the last node ID (S13), and AGVs the reset transfer path. Transfer to (10) (S14).

When the transfer path reset by the server 30 is received, the AGV 10 stores it in memory (S15), and displays the location of the restart node according to the reset transfer path through the display screen.

The AGV 10 resumes the operation of the reset transfer path while it is moved to the position of the restart node (S16). Thereafter, the AGV 10 returns to step S5 and repeats motion control according to node recognition until the destination arrives.

As described above, according to an embodiment of the present invention, the server that manages the AGV monitors the operation status based on the node information received from the AGV, so that events such as emergency stop, abnormal node driving, and low voltage warning can be identified in real time. It works.

In addition, when AGV is operated to a node or a stop event occurs, unless the AGV is a designated transport route, the transport route is recalculated and transmitted based on the last received node, thereby enabling the operation to be quickly resumed.

In addition, by providing a user interface (UI) that allows the operator to create, modify, and edit the AGV's transport path in consideration of the AGV's moving environment and production line environment, it has the effect of managing a more efficient and safe AGV transport schedule. have.

The embodiments of the present invention are not implemented only through the apparatus and/or method described above, but may be implemented through a program for realizing a function corresponding to the configuration of the embodiment of the present invention, a recording medium in which the program is recorded. Also, such implementation can be easily implemented by an expert in the technical field to which the present invention belongs from the description of the above-described embodiment.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements by those skilled in the art using the basic concept of the present invention defined in the following claims are also provided. It belongs to the scope of rights.

10: Unmanned Vehicle (AGV) 11: Wireless communication module
12: node recognition module 13: drive module
14: memory 15: control module
20: wireless repeater 30: server
31: communication unit 32: route setting unit
33: monitoring unit 34: database (DB)
35: user interface (UI) 36: control unit

Claims (15)

A wireless repeater that includes a driving module that generates driving power by operating a motor with battery power, and recognizes the node ID (Identity) of a node disposed at each point on the guide line while driving along the guide line of the designated transfer path. Automated Guided Vehicle (AGV) transmitted to the vehicle; And
When an abnormal node inconsistent with the transfer path is detected by assigning the transfer path to the AGV and tracking the movement status of the AGV based on the node ID received through the wireless repeater, the node ID last received from the AGV Including a server for resetting the transfer path based on and transmitting to the AGV,
The driving module includes a motor 1 for driving the driving wheel of the AGV, and a motor 2 for rotating the driving wheel in a left or right direction after separating the driving wheel from the vehicle body of the AGV, and the AGV moves forward, backward, and the vehicle body faces forward. A route management system for an unmanned transport vehicle driving in a right-transverse drive for driving the drive wheel rotated in the right direction and a left-hand drive for driving the drive wheel rotated in the left direction while the vehicle body faces forward. The method of claim 1,
The AGV is
A node recognition module for recognizing the node ID by counting magnetic poles installed in the node;
A wireless communication module for transmitting the node ID to the server through a wireless repeater and receiving a transfer path reset by the server;
A memory for storing at least one transfer path set in the server; And
A control module for controlling the driving module by extracting motion information matched with the recognized node ID;
Unmanned vehicle route management system comprising a. According to claim 2
The driving module is
A route management system for an unmanned transport vehicle that generates the driving force at a moving direction and speed according to motion information set for each node of the transport route. The method of claim 2,
The control module
When the guide line is deviated from the transfer path and the guide line is not recognized, an emergency stop signal is applied to the driving module and an alarm is displayed, and a stop event message is generated and transmitted to the server. The method of claim 4,
The stop event message is
An unmanned vehicle route management system including at least one of AGV ID, last recognized node ID, event status information, and event time. The method of claim 2,
The control module
When the state of charge of the battery is a low voltage less than a predetermined reference value, the unmanned transport vehicle path management system generates a charging event message and transmits it to the server. The method according to any one of claims 1 to 6,
The server
A communication unit that transmits the transfer path set in the AGV and receives the node ID recognized by the AGV;
A route setting unit that selects an AGV when a part supply operation is assigned, checks a starting point as a starting point and an arrival point as a destination in a guide line map (MAP) to set a transfer route of the AGV;
A monitoring unit that stores the transport path of the AGV operating in the factory in the database (DB), and monitors the movement status based on the node ID received from each AGV;
A user interface unit that provides a screen for setting and monitoring an operator's AGV transport path; And
A control module for generating an event alert and an alarm to an operator when an abnormal node in which the node ID received from the AGV does not match the transfer path is detected;
Unmanned vehicle route management system comprising a. The method of claim 7,
The monitoring unit
If the node ID does not exist in the set transfer path or the order in which the node ID is received is different from the node order of the set transfer path and does not match, the unmanned transport vehicle path management system determines whether the node is abnormal. The method of claim 7,
The monitoring unit
If the next node ID is not received within a predetermined time after the last node ID is received from the AGV, the unmanned vehicle path management system determines as a stop event of the AGV. The method of claim 7,
The user interface is
Startup information at the start and end nodes, branch direction information at the branch point, running speed, horizontal traverse change information to the left or right, obstacle sensor area, lifting operation information, melody output level, attendance confirmation information, charging information, low voltage alarm level A route management system for an unmanned vehicle that provides a setting menu and a command list of each menu to the operator to set the AGV transfer route based on conditional sentences. The method of claim 7,
The user interface is
At least one of occurrence time and emergency stop, derailment, obstacle collision, wireless communication error, oil leakage warning, pallet presence, difference between AGV external input sensor signal and system status information, pallet mismatch, battery low voltage warning A route management system for unmanned vehicles that displays the status of events on the screen. In the AGV route management method of a server that controls an automated guided vehicle (AGV) operated in a factory,
a) selecting an AGV required for a part transfer operation, setting a transfer path, and transmitting it through a wireless repeater;
b) if a node ID recognized during operation is received from the AGV, comparing the received node ID with a transfer path of the AGV to determine whether or not there is an abnormal node according to the matching status;
c) generating an event alert and alarming when the node ID is detected as an abnormal node that does not match the transfer path; And
d) resetting a transport path based on the node ID last received from the AGV and transmitting it to the AGV,
The AGV includes a driving module including a motor 1 for driving a driving wheel and a motor 2 for rotating left or right after separating the driving wheel from the vehicle body of the AGV, according to a motion path set for each node of the transport path. The driving force is generated in the traveling direction and speed, but forward, backward, and the right-lateral drive for driving the drive wheel rotated in the right direction with the vehicle body facing the front and the driving wheel rotated in the left direction with the vehicle body facing the front. A method of managing the route of an unmanned vehicle that is driven from left to right. The method of claim 12,
The step c),
And determining a stop event of the AGV if the next node ID is not received within a predetermined time after the last node ID is received from the AGV. The method of claim 12,
The step c),
And receiving an emergency stop event message that has been deviated from the transport path and is stopped from the AGV. The method of claim 12,
Step d),
Through the user interface, start information for each node, branch direction information at the branch point, driving speed, horizontal movement to the left or right, obstacle sensor area, lifting operation information, melody output level, attendance confirmation information, charging information, low voltage alarm level An unmanned vehicle route management method comprising the step of resetting an AGV transport route based on a conditional statement by providing a setting menu and a command list of each menu to an operator.

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