KR102263832B1 - Conveying system using unmanned aerial vehicle and operation method thereof - Google Patents

Abstract

The present invention relates to a transport system using an unmanned aerial vehicle and a method for operating the same, and more particularly, by transferring products or parts necessary for production between a plurality of stations to an unmanned aerial vehicle to increase the degree of freedom of transport between each station. , to a system capable of improving the flexibility and extensibility of a production line to facilitate the construction of a flexible manufacturing line (FML), and to improve the production speed of products, and an operating method thereof.

Description

A transport system using an unmanned aerial vehicle and its operation method {CONVEYING SYSTEM USING UNMANNED AERIAL VEHICLE AND OPERATION METHOD THEREOF}

The present invention relates to a transport system using an unmanned aerial vehicle and a method for operating the same, and more particularly, by transferring products or parts necessary for production between a plurality of stations to an unmanned aerial vehicle to increase the degree of freedom of transport between each station. , to a system capable of improving the flexibility and extensibility of a production line to facilitate the construction of a flexible manufacturing line (FML), and to improve the production speed of products, and an operating method thereof.

Recently, by attaching an IoT (Internet of Things) device to an automated process line, operation status, process information, product information, etc. for each unit process are extracted in real time, and the extracted information is transmitted to a remote central control system and included in the process Interest in smart factories that can efficiently manage the operation of various machines and improve the quality of products produced in factories is growing.

The smart factory refers to a factory in which the facilities and processes of the factory are intelligently connected to the production network, and all production data and information are shared and utilized in real time to operate for optimized production.

In particular, the CPS (Cyber Physical System) based smart factory configures a cyber model in which a real factory is virtualized and synchronized with a factory that exists in reality, and then applies the collected data in real time to the cyber model to perform efficient operation of the manufacturing system. Through this, it is possible to autonomously recognize and respond to changes in circumstances such as orders, changes, and equipment failures.

On the other hand, in the personalized production system, it is essential to form a flexible production line to efficiently manufacture personalized products.

At this time, transferring the parts and products (work) required for production in the flexible production line is an important design factor to ensure the flexibility of the production line. In addition, hardware that is in charge of each unit process of the production line and performs a predetermined operation is called a station, and the production line means that these stations are arranged to efficiently produce a specific product.

The flexible production line is not a fixed line specialized for a specific product, but a production line designed to produce various products on the same production line. In order to implement a flexible production line, not only the relocation of stations but also the degree of freedom of connection between stations must be high. do.

However, the transfer of products or parts for production in known production lines is a straight-line conveyor system, a circular distribution system using a transfer robot, a mobile robot moving along a fixed transfer line, and a product or part moving along a fixed track. A track-based transfer device for transferring parts has been proposed, but this conventional method has a problem in that the degree of freedom of the transfer path is limited.

Therefore, in the present invention, by performing the transfer of products or parts necessary for production using an unmanned aerial vehicle between a plurality of stations, the flexibility and expandability of the production line can be maximized by securing various transfer routes, and the production speed of products can be improved. We would like to suggest a possible way.

In addition, the present invention proposes a method for flying while avoiding collision with each other by controlling horizontal and vertical movement through overlapping path search of each unmanned aerial vehicle when a plurality of transfer operations are simultaneously performed in the operation of an unmanned aerial vehicle want to

Next, the prior art existing in the technical field of the present invention will be briefly described, and then the technical matters that the present invention intends to achieve differently compared to the prior art will be described.

First, U.S. Patent Publication No. 2015-0294045 (2015.10.15) relates to a virtual modeling device that can express all ports, structures, and constraints of a physical system through modeling. do.

In addition, US Patent Application Laid-Open No. 2017-0031663 (2017.02.02.) is for managing various software operating in a cyber-physical system, and can manage version changes, issues/change events, and the like. The prior art can diagnose and classify dependencies of software artifacts in a software architecture of a complex cyber-physical system, relate a change event to a software artifact with a change in the diagnosed and classified dependencies, and also provide a complex cyber-physical system. It can be enhanced with new functions required by market demand, and defects that appear during maintenance and repair of complex cyber-physical systems can be corrected in relation to diagnosed and categorized dependencies and diagnosed and classified dependencies.

Also, Korean Patent Publication No. 10-1222051 (2013.01.08.) relates to a data model creation method for a virtual factory and a data model middleware system for a virtual factory. By integrating virtual factory and virtual operation technology through simulation, integrated virtual manufacturing and virtual operation can be realized.

As a result of examining the prior art above, in the prior art, by using an unmanned aerial vehicle between a plurality of stations to transfer products or parts necessary for production, flexibility and expandability of the production line can be improved by securing various transport routes. It maximizes the production speed of the product while maximizing it, and when multiple transfer operations are performed simultaneously during the operation of the unmanned aerial vehicle, it controls the horizontal and vertical movement by searching the overlapping path of each unmanned aerial vehicle, so that it can fly while avoiding collision with each other. It does not describe or suggest technical features of the present invention that may be used.

The present invention was created to solve the above problems, and provides a transport system using an unmanned aerial vehicle that can transfer products or parts necessary for production using an unmanned aerial vehicle between a plurality of stations, and a method for operating the same aim to do

In addition, the present invention uses an unmanned aerial vehicle to increase the freedom of transport between each station through the transport of products or parts necessary for production, thereby securing various transport routes to maximize flexibility and expandability of the production line, and Another object of the present invention is to provide a transport system using an unmanned aerial vehicle that can be easily constructed and an operating method thereof.

In addition, the present invention sets the shortest flight path for each unmanned aerial vehicle when a plurality of transfer operations are simultaneously performed in the operation process of the unmanned aerial vehicle, and horizontal and vertical movement to avoid the risk of collision through the flight path search of each unmanned aerial vehicle Another object of the present invention is to provide a transport system using an unmanned aerial vehicle that can smoothly perform a transport operation while avoiding collision with other unmanned aerial vehicles in the transport process by controlling the vehicle and an operating method thereof.

A transfer system using an unmanned aerial vehicle according to an embodiment of the present invention includes a station control unit that controls the operation of each station provided in a production line, and controls the loading of the unmanned aerial vehicle of products or parts worked in the station, and the and an unmanned aerial vehicle control unit for controlling the flight of the unmanned aerial vehicle loaded with the product or part worked in the station to the station performing the next process, wherein the unmanned aerial vehicle flies according to a pre-set flight path, but the production line It is characterized in that it avoids collision with other unmanned aerial vehicles by performing horizontal and vertical movement according to the flight path reset by the unmanned aerial vehicle control unit that performs flight path search for all unmanned aerial vehicles currently in flight.

In addition, the unmanned aerial vehicle control unit, when transferring each product or part used in the production line between stations using the unmanned aerial vehicle, the flight path including coordinate information of the departure station, the waypoint, and the destination station for each unmanned aerial vehicle A route setting unit to set, and a path search unit for searching the flight paths of all unmanned aerial vehicles currently flying in the production line, and confirming whether there is an unmanned aerial vehicle with a risk of collision at a specific point in time and coordinates as a result of the search, the path If there is an unmanned aerial vehicle with a risk of collision as a result of the search by the route search unit, the setting unit is configured to avoid collision by resetting the flight path for horizontal and vertical movement at a specific point in time and coordinates of the unmanned aerial vehicle. .

In addition, the transfer system establishes a process sequence of products to be produced through a production line equipped with a plurality of stations, and a production planning unit that determines the arrangement of the stations based on the established process sequence, according to the established process sequence A transfer planning unit that establishes a transfer plan for products or parts used in the corresponding process between stations using the unmanned aerial vehicle, and the current status of work being performed from each of the stations and the unmanned aerial vehicle, the transfer status of products or parts, or a combination thereof It is characterized in that it further comprises a production process confirmation unit for receiving the received process information including the process information, confirming the process execution result based on the process information, and determining the progress of the next process based on the confirmed process execution result.

In addition, the station is a mechanism including a drive control unit for controlling the operation of the station based on a control command received from the station control unit, an automation device and a robot installed in the work space of the station, and according to the control of the drive control unit A mechanism unit for performing work for product production in the work space, a top plate provided on the upper portion so that the unmanned aerial vehicle can take off or land, and at least one sensor for confirming the take-off or landing of the unmanned aerial vehicle; and a transfer unit installed in the work space to lift and lower the product or parts performed in the work space to the unmanned aerial vehicle or to move the product or component unloaded from the unmanned aerial vehicle to the working space. do it with

In addition, the station further includes a charging unit for charging the used power of the unmanned aerial vehicle located in the upper panel, and the charging unit performs charging of the unmanned aerial vehicle located in the upper panel in a non-contact wireless charging method, or a charging terminal It is characterized in that the charging of the unmanned aerial vehicle is performed in a contact-type charging method connected through.

In addition, the method of operating a transport system using an unmanned aerial vehicle according to an embodiment of the present invention, in the production line management server, controls the operation of each station provided in the production line, and unmanned products or parts worked in the station A station control step of controlling the mounting of the vehicle, and an unmanned aerial vehicle control step of controlling the flight from the production line management server to a station performing the next process of the unmanned aerial vehicle on which the product or part worked in the station is mounted The unmanned aerial vehicle, but flies according to a pre-set flight path, performs horizontal and vertical movement according to the flight path reset by the production line management server that performs flight path search for all unmanned aerial vehicles currently flying on the production line. By performing it, it is characterized in that it avoids collision with other unmanned aerial vehicles.

In addition, the unmanned aerial vehicle control step includes, in the production line management server, when transferring each product or part used in the production line between stations using the unmanned aerial vehicle, a departure station, a stopover and a destination station for each unmanned aerial vehicle. A route setting step of setting the flight route including the coordinate information of, and, in the production line management server, search the flight routes of all unmanned aerial vehicles currently flying in the production line, and as a result of the search, there is a risk of collision at a specific point in time and coordinates Including a path search step of checking whether an unmanned aerial vehicle exists, wherein the route setting step, if there is an unmanned aerial vehicle with a risk of collision as a result of the search, flight for horizontal and vertical movement at a specific point in time and coordinates of the unmanned aerial vehicle By re-routing, the method further comprises avoiding collision.

In addition, the operation method includes a production planning step of establishing, in the production line management server, a process sequence of products to be produced through a production line equipped with a plurality of stations, and determining the arrangement of the stations based on the established process sequence; In the production line management server, according to the established process sequence, a transfer planning step of establishing a transfer plan for products or parts used in the corresponding process between stations using the unmanned aerial vehicle, and in the production line management server, the stations and Receive process information including the current work status, product or part transfer status, or a combination thereof from each unmanned aerial vehicle, check the process performance result based on the process information, and determine the next process based on the confirmed process performance result It characterized in that it further comprises a production process confirmation step to determine the progress.

In addition, the operating method is, in the station, based on the control command received from the production line management server, through an automation device and a robot driven by a servo motor to perform the work for the production of products to be carried out in the corresponding station in the work space The operation performing step, and in the station, the product or part carried out in the work space is mounted on the unmanned aerial vehicle, or the product or part unloaded from the unmanned aerial vehicle further comprises a transfer step of moving the product or part to the working space. do.

In addition, the operating method further includes a charging step of charging the power used by the unmanned aerial vehicle at the station, wherein the charging is performed by charging the unmanned aerial vehicle in a non-contact wireless charging method, or connected through a charging terminal It is characterized in that the charging of the unmanned aerial vehicle is performed in a contact-type charging method.

As described above, according to the transport system using the unmanned aerial vehicle and its operating method of the present invention, since the product or parts necessary for production are transferred using the unmanned aerial vehicle between a plurality of stations, various transport routes are secured and produced. The flexibility and scalability of the line can be maximized, and accordingly, there is an effect that can facilitate the construction of a flexible production line.

In addition, the present invention sets the shortest flight path for each unmanned aerial vehicle when a plurality of transfer operations are simultaneously performed in the process of operating the unmanned aerial vehicle between a plurality of stations, and avoids the risk of collision by searching the flight path of each unmanned aerial vehicle Since it controls horizontal and vertical movement to make it possible, there is an effect that it can quickly and safely perform transfer work while avoiding collision with other unmanned aerial vehicles.

1 is a view for explaining a transport system using a conveyor and a transport system using a robot according to the prior art.
2 is a diagram showing the configuration of a transport system using an unmanned aerial vehicle according to an embodiment of the present invention.
3 is a conceptual diagram for explaining a processing process of a transport system using an unmanned aerial vehicle to which the present invention is applied.
4 is a view showing in detail the configuration of the production line management server according to an embodiment of the present invention.
5 is a diagram illustrating in detail the configuration of a station according to an embodiment of the present invention.
6 is a flowchart illustrating in detail an operation process of a method for operating a transport system using an unmanned aerial vehicle according to an embodiment of the present invention.
7 is a view showing an embodiment of the transfer process of products or parts between the stations of the unmanned aerial vehicle applied to the present invention.
8 is a view showing an embodiment of horizontal and vertical flight for the transfer of products or parts between the stations of the unmanned aerial vehicle applied to the present invention.

Hereinafter, a preferred embodiment of a transport system using an unmanned aerial vehicle of the present invention and an operating method thereof will be described in detail with reference to the accompanying drawings. Like reference numerals in each figure indicate like elements. In addition, specific structural or functional descriptions for the embodiments of the present invention are only exemplified for the purpose of describing the embodiments according to the present invention, and unless otherwise defined, all terms used herein, including technical or scientific terms They have the same meaning as commonly understood by those of ordinary skill in the art to which the present invention pertains. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present specification. It is preferable not to

1 is a view for explaining a transport system using a conveyor and a transport system using a robot according to the prior art.

As shown in FIG. 1, as a typical production process line known in the prior art, there are a linear line using a conveyor and a circular line using a robot.

Here, the linear line refers to a straight-line production line in which the final product is finally produced when parts are assembled at the station of each process. In addition, the circulation line is a structure in which the robot inputs and outputs products or parts according to the order of the processes required in the production process from a plurality of stations surrounding it in a situation where there is a robot or a device that supplies products or parts in the center. The structure may be configured such that a plurality of them are connected to each other and interlocked.

This structure has traditionally been mainly used when the process is very simple, and has a planar structure, so it occupies a lot of space and takes a lot of time to perform the process.

More specifically, in the case of a conveying system using a conveyor shown in FIG. 1 (a), there is a problem in that flexibility is greatly reduced because the movement path of products or parts is fixed according to the arrangement method or position of the conveyor.

In addition, in the case of the transport system in which the station is arranged in a circle with the robot in the center shown in FIG. 1(b), the flexibility is higher than when the robot uses a conveyor, but when additional arrangement of the station is required, the arrangement position There is a problem that is very limited.

In addition, in the case of using a robot, the working speed is determined according to the moving speed of the robot, and since only planar movement is performed, it is difficult to secure a plurality of transport paths when transporting of multiple paths is performed at the same time.

Accordingly, in the present invention, in order to build a more flexible production line with respect to the conventional process line, an unmanned aerial vehicle is used between a plurality of stations to transfer products or parts necessary for production, and each unmanned aerial vehicle operation process is performed. The purpose of this study is to propose a transport system that can fly while avoiding collisions with each other by controlling horizontal and vertical movement through the detection of whether there is an overlapping path of the vehicle.

2 is a view for explaining the structure of a transport system using an unmanned aerial vehicle according to an embodiment of the present invention.

2, the system of the present invention is configured to include a production line management server 100, a plurality of stations 200, a plurality of unmanned aerial vehicles 300, a database 400, and the like.

The production line management server 100 is a computer operated by a business operator operating a production line for product production, and is a unit for producing products for each station 200 in a flexible production line equipped with a plurality of stations 200 . The process is determined, and products or parts necessary for the determined process can be quickly and freely transferred between each station 200 using the unmanned aerial vehicle 300 .

That is, the production line management server 100 uses at least one unmanned aerial vehicle 300 between a plurality of stations 200 to increase the degree of freedom of transfer between each station 200 based on the transfer of products or parts required for production, and , by maximizing the flexibility and scalability of the production line by securing these various transfer paths, it is to facilitate the construction of the flexible production line.

In addition, the production line management server 100 performs a transfer operation between each station 200 according to the production process when several transfer processes of products or parts using the unmanned aerial vehicle 300 are simultaneously performed. The shortest flight path is set for each vehicle 300 , and the operation of each unmanned aerial vehicle 300 is collectively controlled based on the set flight path.

In this process, the production line management server 100 searches the flight path of each unmanned aerial vehicle 300 operating between each station 200 at a specific point in time according to the set flight path, and is performed with another unmanned aerial vehicle 300 and It is checked whether there is a possibility of collision, and as a result of the confirmation, if there is a possibility of collision, the flight path of the unmanned aerial vehicle 300 is controlled to move horizontally or vertically at a specific point in time or coordinates to prevent collision with another unmanned aerial vehicle 300 make it possible to avoid

A plurality of the stations 200 are provided in the production line, and it is determined to perform a specific unit process for each station 200 based on the control of the production line management server 100 . At this time, each of the stations 200 is arranged under the control of the production line management server 100 so that a specific product can be efficiently produced, and the degree of freedom of relocation of the stations 200 and the connection between the stations 200 must be high. The implementation of the production line becomes easy.

In addition, the station 200 receives and unloads products or parts necessary for production from another station 200 through the unmanned aerial vehicle 300 based on the control of the production line management server 100, and then performs a predetermined process or , or the currently worked product or part is mounted on the unmanned aerial vehicle 300 and transferred to the station 200 to perform the next process.

The unmanned aerial vehicle 300 is an airplane or helicopter-shaped unmanned aerial vehicle capable of flying and controlling by induction of radio waves, commonly known as a drone, and in the present invention, a plurality of units may be simultaneously operated on a production line. .

In addition, the unmanned aerial vehicle 300 performs a function of transferring products or parts required for production between each station 200 in each station 200 provided in the production line based on the control of the production line management server 100 . do.

That is, the unmanned aerial vehicle 300 transfers products or parts necessary for production based on the coordinate information of the departure station, the stopover and the destination station based on the flight path information determined according to the production process in the production line management server 100 .

At this time, the unmanned aerial vehicle 300 performs collision avoidance control of the production line management server 100 when operating between each station 200 at a specific time according to the flight path set by the production line management server 100 . It is possible to avoid colliding with other unmanned aerial vehicles 300 by performing horizontal or vertical movement by changing the originally determined flight path based on specific coordinates or time points.

In addition, the unmanned aerial vehicle 300 is preferably configured to have the following various functions.

For example, the unmanned aerial vehicle 300 has a hovering function that can maintain a stationary state for a certain time in the air, a vertical take-off and landing function that can take off and land vertically, and communication that can cover the entire production line. It should be equipped with a wireless communication function (Wi-Fi, LTE, 5G, etc.) that can secure a distance, a contact-type charging or non-contact wireless charging function while staying in the station 200 .

In addition, the unmanned aerial vehicle 300, in addition to the above functions, of course, should have a performance sufficient to be able to fly in a state in which a product or part to be produced is mounted. In this case, products or parts mounted on the unmanned aerial vehicle 300 may be mounted using a separate jig.

On the other hand, if the unmanned aerial vehicle 300 has a configuration capable of performing a collision avoidance function such as a camera, a sensor, a control device, etc., it performs a flight for collision avoidance based on the control of the production line management server 100. Collision avoidance with other unmanned aerial vehicles 300 can be performed by itself without need. However, in order to perform its own collision avoidance in the unmanned aerial vehicle 300, since it may be a significant burden on data processing for flight path search, flight path setting and collision avoidance based on the control of the production line management server 100 It is desirable to perform control.

The database 400 includes production plan information including process sequence establishment of products to be produced using each station 200 provided in the production line, arrangement of stations 200 according to the process sequence, or a combination thereof, and the established process According to the order, the transfer order of products or parts used in the corresponding process between each station 200 using the unmanned aerial vehicle 300, the flight path of each unmanned aerial vehicle 300, collision avoidance information with another unmanned aerial vehicle 300, or The combined transfer plan information is stored and managed.

In addition, the database 400 stores and manages the work results of each station 200, the transfer results of each unmanned aerial vehicle 300, and the like, which are performed through the flexible production line, and the station 200 and the unmanned aerial vehicle 300 ) to store and manage various operation programs and update information used in

3 is a conceptual diagram for explaining a processing process of a transport system using an unmanned aerial vehicle to which the present invention is applied.

3, the production line management server 100 establishes a process plan for each station 200 provided in the production line (①), and based on the established process plan, the unmanned aerial vehicle 300 ) to establish a transfer plan for products or parts necessary for the process (②).

And when product production is started, the production line management server 100 generates a control command for mounting a product or part to proceed with the operation to be performed in each station 200 and the next process, and related to the operation and loading. A control command is transmitted to each station 200 (③-1).

At this time, the control command for the operation is unloading and moving products or parts received from the other station 200 through the unmanned aerial vehicle 300 to the working space, and an automated device or robot made in the working space of the corresponding station 200 . It may include a control signal related to the driving of the.

In addition, the production line management server 100 is a control command for transferring products or parts located in the current station 200 to the station 200 to perform the next process with the unmanned aerial vehicle 300 located at each station 200 . , and transmits a transfer-related control command to each unmanned aerial vehicle 300 (③-2).

In this case, the transfer-related control command is a flight path including a departure station, a waypoint, and an arrival station, and may include a flight path for avoiding collision with other unmanned aerial vehicles 300 in the process of traveling through the flight path. For example, the production line management server 100 searches the flight paths of all unmanned aerial vehicles 300 operated in the production line, and as a result of the search, horizontal movement at a specific point to each unmanned aerial vehicle 300 with a risk of collision. It is possible to provide a flight path reflecting collision avoidance as to whether to continue the flight or to perform the flight in a vertical movement by adjusting the altitude.

After that, each station 200 that receives a control command related to operation and mounting from the production line management server 100 performs a predetermined process, and then transfers products or parts to the station 200 to proceed with the next process. In order to do this, products or parts are mounted on the unmanned aerial vehicle 300 located in the corresponding station 200 .

Then, the unmanned aerial vehicle 300 moves to the station 200 for the next process according to the flight path provided from the production line management server 100 (④). That is, the unmanned aerial vehicle 300 flies to a destination station while avoiding a collision with another unmanned aerial vehicle 300 by performing horizontal and vertical movement according to a predetermined flight path.

As such, when the unmanned aerial vehicle 300 arrives at the station 200 to perform the next process based on the flight path provided from the production line management server 100, the unmanned aerial vehicle 300 moves from the departure station to the destination station. of the movement result (eg, time, flight route, arrival status, etc.) is transmitted to the production line management server 100 (⑤-1).

In addition, in the station 200 that has received the product or part from the station that has performed the previous process through the unmanned aerial vehicle 300, the product or part mounted on the unmanned aerial vehicle 300 is unloaded and moved to the work space. , based on the control of the production line management server 100, the production process is performed in the work space through an automated device or a robot, and the work result is transmitted to the production line management server 100 (⑤-2).

In addition, the production line management server 100 checks the movement results and work results received from each of the unmanned aerial vehicle 300 and the station 200, and the station 200 and the unmanned aerial vehicle according to a predetermined process until the finished product is produced. (300) Performs each production operation and transfer (⑥).

4 is a view showing in detail the configuration of the production line management server 100 according to an embodiment of the present invention.

As shown in FIG. 4 , the production line management server 100 includes a production planning unit 110 , a transfer planning unit 120 , a station control unit 130 , an unmanned aerial vehicle control unit 140 , a communication unit 150 , and production It is configured to include a process confirmation unit 160 and the like.

In addition, although not shown in the drawing, the production line management server 100 includes an input unit for data input for various functions, an update management unit for managing updates of various operation programs, a display unit for displaying various data related to the production process, and a production process It may additionally include a statistical processing unit that statistically processes the operation status or the unmanned aerial vehicle transfer status.

The production planning unit 110 establishes a process sequence of products to be produced through a production line provided with a plurality of stations 200 , and determines the arrangement of the stations 200 based on the established process sequence, and the establishment The process sequence of one product and the determined arrangement information of each station are stored and managed in the database 400 .

In this case, the production planning unit 110 may change the process order or rearrange stations whenever a product to be produced is changed.

The transfer planning unit 120 establishes a transfer plan of products or parts used in the corresponding process between each station 200 using the unmanned aerial vehicle 300 according to the process sequence established by the production planning unit 110 . and stores and manages the established product or part transfer plan information in the database 400 .

At this time, the transfer plan information may include the shortest flight path between the departure station and the destination station according to the process sequence of each unmanned aerial vehicle 300 , collision avoidance information, and the like.

The station control unit 130 refers to the process sequence established through the production planning unit 110, and generates a control command for controlling the operation of each station 200 provided in the production line according to the process sequence, and , transmits the generated control command to each station 200 .

In addition, the station control unit 130 is an unmanned aerial vehicle located in the station 200 in order to transfer a specific product or part that is a result of the work performed in each station 200 to the station 200 performing the next process. 300) to be mounted on it.

The unmanned aerial vehicle control unit 140 includes a route setting unit 141 and a route search unit 142, and controls the unmanned aerial vehicle 300 to fly according to a preset flight path. That is, it is to control the flight of the unmanned aerial vehicle 300 loaded with the product or parts worked in the specific station 200 to the station 200 performing the following process.

The route setting unit 141 uses the unmanned aerial vehicle 300 to transfer each product or part used in the production line between the stations 200, the departure station, the waypoint and Set the flight path including the coordinate information of the destination station.

In addition, the route setting unit 141 is, as a result of the search from the route search unit 142, if there is an unmanned aerial vehicle 300 with a risk of collision, the horizontal and vertical movement of the unmanned aerial vehicle 300 at a specific point in time and coordinates. It resets the flight path for the flight, and transmits the reset flight path to the corresponding unmanned aerial vehicle 300 to avoid collision in the flight process.

The route search unit 142 searches the flight paths of all unmanned aerial vehicles 300 currently flying in the production line, and as a result of the search, confirms whether there is an unmanned aerial vehicle 300 with a risk of collision at a specific time and coordinates, The checked result is provided to the path setting unit 141 .

The communication unit 150 processes data communication between the production line management server 100 and each station 200 and the unmanned aerial vehicle 300 . That is, transmission of a control command for each station 200 operation (ie, process progress, loading or unloading of an unmanned aerial vehicle of a product or part to be transported, etc.) or a control command for each flight of each unmanned aerial vehicle 300, each The reception of result information performed by the station 200 and the unmanned aerial vehicle 300 is processed.

The production process confirmation unit 160 is a process information including the current status of work being performed from each station 200 and the unmanned aerial vehicle 300 through the communication unit 150, the status of transport of products or parts, or a combination thereof , and check the process execution result based on the process information.

In addition, the production process confirmation unit 160 determines the progress of the next process based on the confirmed process execution result, and outputs the determined content to the station control unit 130 and the unmanned aerial vehicle control unit 140 .

5 is a diagram illustrating in detail the configuration of the station 200 according to an embodiment of the present invention.

As shown in FIG. 5 , the station 200 includes a driving control unit 210 , a work performing unit 220 , a transfer unit 230 , a charging unit 240 , and an upper plate unit 250 .

In addition, although not shown in the drawing, the station 200 can perform data communication with a power supply unit for supplying operating power to each component, an input unit for data input for various functions, and the production line management server 100 . It may further include a communication interface unit and the like.

The driving control unit 210 performs a function of collectively controlling a unit process to be performed in the station 200 according to a control command received from the production line management server 100 .

That is, unloading of a specific product or part transferred through the unmanned aerial vehicle 300 from the station 200 that has performed the previous process based on the control command, moving the specific product or part to the working space and performing the work, the next process It is to control the movement and loading of products or parts to be transferred to the station 200 for performing the operation to the unmanned aerial vehicle 300 .

The mechanism unit 220 is a mechanism including an automation device and a robot for performing tasks necessary for production of products installed in a work space provided in the station 200 , and the work space according to the control of the driving control unit 210 . work for the production of products.

The transfer unit 230 is installed in the working space, and the product or parts performed in the working space are mounted on the unmanned aerial vehicle 300 located on the top plate 250 or the unmanned aerial vehicle located on the top plate 250 . It performs a function of elevating the product or part unloaded from the 300 to move it to the work space.

The charging unit 240 charges the power used in the unmanned aerial vehicle 300 located on the upper plate unit 250 .

At this time, the charging unit 240 performs the charging of the unmanned aerial vehicle 300 located on the top plate 250 in a non-contact wireless charging method, or in a contact-type charging method connected through a charging terminal (not shown) to the unmanned aerial vehicle. The charging of 300 may be performed, and the current charging state of the unmanned aerial vehicle 300 may be checked and provided to the production line management server 100 .

The top plate 250 is a part that performs a mooring function like a dock in a harbor, and is preferably provided above the station 200 so that the unmanned aerial vehicle can take off and land smoothly, and at least one or more unmanned aerial vehicles. (300) can stay.

In addition, at least one sensor for confirming the take-off or landing of the unmanned aerial vehicle 300 is provided in the upper plate part 250, and the charging part 240 is provided so that the unmanned aerial vehicle 300 lands when the unmanned aerial vehicle 300 lands. Alternatively, contact charging is possible.

Next, an embodiment of a transport system operating method using an unmanned aerial vehicle according to the present invention configured as described above will be described in detail with reference to FIGS. 6 to 8 . In this case, the order of each step according to the method of the present invention may be changed by the environment of use or by those skilled in the art.

6 is a flowchart illustrating in detail the operation process of the smart indoor air purification method according to an embodiment of the present invention.

As shown in FIG. 6 , the production line management server 100 establishes a work plan for product production of each station 200 provided in the production line ( S100 ), along with the manufacturing process between each station 200 . Establish a transfer plan of each unmanned aerial vehicle 300 for the movement of products or parts according to (S200).

After that, the production line management server 100 generates a control command for driving each station 200 based on the work plan for product production established through the step S100, and then sends the control command to each station 200. to process the product or part received through the unmanned aerial vehicle 300 from the station 200 that performed the previous process to perform a unit process, or transfer the product or part to the station 200 to perform the next process In order to do this, the product or part can be mounted on the unmanned aerial vehicle 300 (S300).

In addition, the production line management server 100 generates a control command for the flight of each unmanned aerial vehicle 300 based on the part transfer plan using the unmanned aerial vehicle 300 established through the step S200, and then the control command is transmitted to each unmanned aerial vehicle 300, so that each unmanned aerial vehicle 300 performs a flight between the stations 200 based on a preset flight path according to a process sequence (S400).

The step S400 will be described in more detail with reference to FIGS. 7 and 8 as follows.

7 is a view showing an embodiment of a process for transferring products or parts between stations of an unmanned aerial vehicle applied to the present invention, and FIG. 8 is a horizontal view for transferring products or parts between stations of an unmanned aerial vehicle applied to the present invention and a view showing an embodiment of vertical flight.

As shown in FIG. 7 , when a product or part located in the working space at the departure station is mounted on the unmanned aerial vehicle 300 located above, the unmanned aerial vehicle 300 takes off from the corresponding station 200 and then the production Horizontal and vertical movement is performed to the arrival station according to the flight path provided from the line management server 100 .

When the unmanned aerial vehicle 300 lands on the arrival station through such a flight, the arrival station unloads products or parts mounted on the unmanned aerial vehicle 300 and then transfers it to the work space.

At this time, horizontal movement refers to moving along a horizontal plane formed above the station as shown in FIG. 8(a), and vertical movement refers to moving along a vertical plane formed above the station as shown in FIG. 8(b). And horizontal and vertical movement can perform forward or backward flight in a right angle or 45 degree diagonal direction.

In addition, the unmanned aerial vehicle 300 performs horizontal movement and vertical movement according to the flight path. If a collision with another unmanned aerial vehicle is expected on a plane, the unmanned aerial vehicle 300 moves vertically at a specific point in time and coordinates to avoid collision while flying. can do. Of course, the flight path for collision avoidance is provided from the production line management server 100 .

Referring back to FIG. 6, the production line management server 100 receives process information including the current status of work and the status of transport of products or parts from each of the station 200 and the unmanned aerial vehicle 300 through the network. , check the process execution result based on the process information (S500).

And the production line management server 100 determines whether all processes according to product production have been completed (S600), and repeatedly performs after step S300 until product production is completed.

As such, the present invention can maximize the flexibility and scalability of the production line by securing various transport routes because the present invention transfers products or parts necessary for production using an unmanned aerial vehicle between a plurality of stations, and the flexible production line can be easily constructed.

In addition, the present invention sets the shortest flight path for each unmanned aerial vehicle when a plurality of transfer operations are simultaneously performed during the operation of the unmanned aerial vehicle, and horizontal and vertical movement to avoid the risk of collision through the flight path search of each unmanned aerial vehicle control, it is possible to quickly and safely carry out transport operations while avoiding collisions with other unmanned aerial vehicles.

As described above, the present invention has been described with reference to the embodiment shown in the drawings, but this is only exemplary, and those skilled in the art can make various modifications and equivalent other embodiments therefrom. You will understand that it is possible. Therefore, the technical protection scope of the present invention should be determined by the following claims.

100: production line management server 110: production planning department
120: transfer planning unit 130: station control unit
140: unmanned aerial vehicle control unit 141: route setting unit
142: route search unit 150: communication unit
160: production process confirmation unit 200: station
210: drive control unit 220: mechanism unit
230: transfer unit 240: charging unit
250: upper plate 300: unmanned aerial vehicle
400 : database

Claims (7)

Establish a process sequence of products to be produced through a production line equipped with a plurality of stations, determine the arrangement of the stations according to the established process sequence, process the established product process sequence, and determine the arrangement information of each station a production planning unit that stores and manages the database, and changes the process sequence or relocates stations whenever a product to be produced is changed;
a transfer planning unit for establishing a transfer plan for products or parts used in the corresponding process between stations using an unmanned aerial vehicle according to the established process sequence;
Receive movement results including time, flight path, arrival status, or a combination thereof from the unmanned aerial vehicle, and receive operation results including the current status of work being performed, the status of transport of products or parts, or a combination thereof from the station; a production process confirmation unit for determining the progress of the next process by confirming the received movement result and the operation result;
a station control unit for controlling the operation of each station provided in the production line, and controlling the product or part worked in the station to be mounted on the unmanned aerial vehicle; and
Including; and an unmanned aerial vehicle control unit for controlling the unmanned aerial vehicle to fly to a station that performs the next operation of the unmanned aerial vehicle mounted with the product or part worked in the station;
The unmanned aerial vehicle control unit,
a route setting unit for setting a flight path that is a time and coordinates for the unmanned aerial vehicle to fly, including coordinate information of a departure station, a stopover, and a destination station for each unmanned aerial vehicle; and
It includes; a route search unit that searches the flight routes of all unmanned aerial vehicles flying at a specific time in the production line;
The route search unit further comprises confirming whether there is an unmanned aerial vehicle with a risk of collision at the specific point in time based on the search result,
The route setting unit, if it is confirmed that there is an unmanned aerial vehicle with a risk of collision as a result of the confirmation, whether to continue the flight in a horizontal movement at the specific time and coordinates of the unmanned aerial vehicle, or to perform the flight in a vertical movement by adjusting the altitude It further includes resetting the flight path in which collision avoidance is reflected in advance,
The station control unit generates a control command for controlling the operation for each station provided in the production line according to the process sequence established through the production planning unit, and selects a specific product or part as a result of the operation performed at each station. In order to transfer to the station performing the next process, it further comprises controlling to be mounted on the unmanned aerial vehicle located in the station,
The database includes production plan information including the process sequence of products to be produced using each station provided in the production line, arrangement of stations according to the process sequence, or a combination thereof, and the unmanned aerial vehicle according to the established process sequence. It stores and manages the transfer order of products or parts used in the process between each station, the flight path of each unmanned aerial vehicle, collision avoidance information with other unmanned aerial vehicles, or a combination of these transfer plan information,
The station may include: a driving control unit configured to control driving of the station according to the control of the station control unit; A mechanism including an automation device and a robot installed in the work space of the station, the mechanism unit performing a work for product production in the work space under the control of the driving control unit; a top plate provided on the upper portion so that the unmanned aerial vehicle can take off or land, and at least one sensor for confirming the take-off or landing of the unmanned aerial vehicle; a transfer unit for lifting and lowering products or parts carried out in the work space to the work space to be mounted on the unmanned aerial vehicle or unloaded from the unmanned aerial vehicle; and a charging unit located in the upper plate portion for charging the power of the unmanned aerial vehicle by a non-contact wireless charging method or a contact-type charging method connected through a charging terminal.
A hovering function capable of maintaining a stationary state for a certain period of time in the air provided in the unmanned aerial vehicle, a vertical take-off and landing function that can take off and land vertically, and a communication distance sufficient to cover the entire production line. Through the wireless communication function, contact charging or non-contact wireless charging function while staying at each of the stations, each unmanned aerial vehicle performs the transfer operation while avoiding collision with other unmanned aerial vehicles based on the transfer plan information according to the production plan information. A transport system using an unmanned aerial vehicle, characterized in that it can be performed. delete delete delete delete Establish a process sequence of products to be produced through a production line equipped with a plurality of stations, determine the arrangement of the stations according to the established process sequence, process the established product process sequence, and determine the arrangement information of each station a production planning step of storing and managing a database, and changing the process sequence or relocating stations whenever a product to be produced is changed;
a transfer planning step of establishing a transfer plan for products or parts used in a corresponding process between stations using an unmanned aerial vehicle according to the established process sequence;
Receive movement results including time, flight path, arrival status, or a combination thereof from the unmanned aerial vehicle, and receive operation results including the current status of work being performed, the status of transport of products or parts, or a combination thereof from the station; a production process confirmation step of determining the progress of the next process by confirming the received movement result and the operation result;
A station control step of controlling, in the production line management server, the operation of each station provided in the production line, and controlling the products or parts worked in the station to be mounted on the unmanned aerial vehicle; and
In the production line management server, the unmanned aerial vehicle control step of controlling the unmanned aerial vehicle carrying the product or parts worked in the station to fly to the station performing the next operation; includes,
The unmanned aerial vehicle control step includes:
A route setting step of setting, in the production line management server, a flight route that is a time and coordinates for the unmanned aerial vehicle to fly, including coordinate information of a departure station, a stopover, and a destination station for each unmanned aerial vehicle; and
In the production line management server, a route search step of searching the flight routes of all unmanned aerial vehicles flying at a specific time in the production line;
The route search step further includes confirming whether there is an unmanned aerial vehicle with a risk of collision at the specific point in time based on the search result,
In the route setting step, if it is confirmed that there is an unmanned aerial vehicle with a risk of collision as a result of the confirmation, whether to continue the flight in a horizontal movement at the specific time point and coordinates of the unmanned aerial vehicle, or to adjust the altitude to perform the flight in a vertical movement It further includes re-establishing the flight path in which collision avoidance is reflected in advance,
The station control step generates a control command for controlling the operation for each station provided in the production line according to the process sequence established through the production planning step, and a specific product or In order to transfer the parts to the station performing the next process, further comprising controlling to be mounted on the unmanned aerial vehicle located in the station,
The database includes production plan information including the process sequence of products to be produced using each station provided in the production line, the arrangement of stations according to the process sequence, or a combination thereof, and the unmanned aerial vehicle according to the established process sequence. Stores and manages the transport order of products or parts used in the process between each station, the flight path of each unmanned aerial vehicle, collision avoidance information with other unmanned aerial vehicles, or a combination of these transfer plan information,
The station may include: a driving control unit configured to control driving of the station according to the control of the station control unit; A mechanism including an automation device and a robot installed in the work space of the station, the mechanism unit performing a work for product production in the work space under the control of the drive control unit; a top plate provided on the upper portion so that the unmanned aerial vehicle can take off or land, and at least one sensor for confirming the take-off or landing of the unmanned aerial vehicle; a transfer unit for lifting and lowering products or parts carried out in the working space to the working space to mount the products or parts on the unmanned aerial vehicle or to move the products or parts unloaded from the unmanned aerial vehicle; and a charging unit located in the upper plate portion for charging the power of the unmanned aerial vehicle by a non-contact wireless charging method or a contact-type charging method connected through a charging terminal.
A hovering function capable of maintaining a stationary state for a certain period of time in the air provided in the unmanned aerial vehicle, a vertical take-off and landing function that can take off and land vertically, and a communication distance sufficient to cover the entire production line. Through the wireless communication function, contact charging or non-contact wireless charging function while staying at each of the stations, each unmanned aerial vehicle performs the transfer operation while avoiding collision with other unmanned aerial vehicles based on the transfer plan information according to the production plan information. A transport system operating method using an unmanned aerial vehicle, characterized in that it can be performed. delete

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