KR102305891B1 - Method and apparatus for measuring position of rack for storing pallet - Google Patents

Abstract

An embodiment of the present specification relates to an apparatus and method for measuring the position of the pallet storage space, the position measuring apparatus of the pallet storage space according to an embodiment of the present specification, a beam light emitting unit provided in the pallet transport device, and each of the A sensing unit for sensing the beam emitted by the beam light emitting unit provided in the rack, and a control unit for determining whether the pallet transfer device has moved to a predetermined position according to the sensing result of the sensing unit, and the position value of the fixed position according to the instructions of the control unit It may include a measuring unit for measuring. The position measuring device may further include an imaging unit that is provided in the pallet transfer device, and transmits the captured image to the control unit by imaging an image within the imaging angle.

Description

Apparatus and method for measuring the position of pallet storage space

An embodiment of the present specification relates to an apparatus and method for measuring the location of a pallet storage space.

A flexible manufacturing system refers to a production system that can automatically produce various products while flexibly responding to process changes.

With the development of mechatronics such as robots and numerical control (NC) machine tools, flexible production systems are popularized due to social demands for product diversification.

Mass production technology has been established in the conventional industry. As a result, producers are able to mass-supply their products. However, in recent years, consumers have gone beyond simply consuming mass-produced products and are gradually requesting the supply of various products. However, in the conventional method of producing one product on one production line, it is difficult to cope with this and the production cost is also high. Therefore, there is a need for an automatic production system that can flexibly respond to process changes due to changes in production types.

In general, flexible production methods are managed by computers. First, the producer sends the material from the automatic warehouse to the MC (machining center) or NC machine tool using an unmanned transport vehicle. MC gives NC machine tools an automatic tool change function and automatic positioning function. The delivered material is processed by MC or NC machine tools according to the program, and the finished part is sent to the inspection process for automatic inspection. The various parts manufactured in this way are automatically assembled by an assembly robot and become a product when another inspection robot completes the inspection. The flexible production method not only increases production efficiency, but also has a great effect on maintaining the health and safety of employees. Currently, the flexible production method is mainly applied to the production of several varieties of products in medium-sized factories. If a simple system that can reduce the initial investment is developed, the flexible production method is expected to spread more rapidly.

1 is a flowchart of a process of measuring the position of a pallet storage space of a flexible production system according to a conventional method.

Referring to Figure 1, in step 110, the flexible production system commands the transfer of the pallet transfer device from the PC to the processing device in order to obtain a position value for each rack located in the pallet storage space to be loaded. The processing device moves the pallet transport device to the origin according to the transport command input from the PC.

In step 120, the operator manually moves the pallet transfer device of the processing device to the measurement target space through a manipulation device such as a jog switch.

In step 130, the operator moves to the measurement target space and visually checks whether the pallet transfer device is in the correct position.

In step 130, the operator returns to step 120 if it is determined that the pallet transport device is not in the correct position, that is, if it is determined that it is necessary to adjust the position of the pallet transport device.

In step 130, if the operator determines that the pallet transfer device is at the correct position, in step 140, the operator returns to the PC and checks the measured value at the corresponding position confirmed on the PC.

In step 150, the PC stores the input measurement value as a position value in the measurement target space.

In order to measure the position of the pallet storage space in this way, the operator moves back and forth from his PC to the pallet storage space and measures the position, so the efficiency is lowered.

In addition, since the pallet transfer device is manually moved to the pallet storage space, the accuracy may be reduced.

An embodiment of the present specification is related to automatically measuring the position of the pallet storage space in a flexible production system.

The position measuring device of the pallet storage space for measuring the position value of each rack in the pallet storage space using the pallet transport device according to an embodiment of the present specification, the beam light emitting unit provided in the pallet transport device and , A sensing unit for sensing the beam emitted by the beam light emitting unit provided in each of the racks, and a control unit for determining whether the pallet transfer device has moved to a position facing the measurement target rack according to the sensing result of the sensing unit and an instruction of the control unit It may include a measurement unit for measuring the position value of the correct position according to the.

Position measurement method for measuring the position value of each rack (rack) in the pallet storage space by the position measurement device of the pallet storage space according to an embodiment of the present specification, the position value of the rack (rack) in the pallet storage space When a signal to start measurement is input, the step of moving the pallet transfer device from the origin to the measurement target rack, and the sensing unit provided in the measurement target rack the beam emitted by the beam light emitting unit provided in the pallet transport device to the sensing result In accordance with the steps of determining whether the pallet transport device has moved to a position facing the measurement target rack, and when it is determined that the transport device has moved to a position facing the measurement target rack, measuring the position value of the pallet transport device and It may include the step of matching and storing the identification information for identifying the measurement target rack and the location value.

According to an embodiment of the present specification, it is possible to increase the efficiency by automatically measuring the position of the pallet storage space in the flexible production system.

According to an embodiment of the present specification, by using a camera and a sensor in a flexible production system to improve accuracy, it is possible to lower the rate of equipment damage or defective production parts.

1 is a flowchart of a process of measuring the position of a pallet storage space of a flexible production system according to a conventional method.
Figure 2 is a block diagram of the apparatus for measuring the location of the pallet storage space according to an embodiment of the present specification.
Figure 3 is a flow chart of the position measurement process of the pallet storage space according to an embodiment of the present specification.
Figure 4 is a flow chart of the process of measuring the position of the pallet storage space using a camera according to an embodiment of the present specification.
5 is a view for explaining a position measurement process of the position measurement device of the pallet storage space according to an embodiment of the present specification.
6 is a view for explaining a process of measuring the position of the pallet storage space using a camera according to an embodiment of the present specification.

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

In describing the embodiments, descriptions of technical content that are well known in the technical field to which the present specification belongs and are not directly related to the present specification will be omitted. This is to more clearly convey the gist of the present specification without obscuring the gist of the present specification by omitting unnecessary description.

For the same reason, some components are exaggerated, omitted, or schematically illustrated in the accompanying drawings. In addition, the size of each component does not fully reflect the actual size. In each figure, the same or corresponding elements are assigned the same reference numerals.

In general, a pallet used in a machine tool is a kind of work support for exchanging a machined work and an unmachined work, and the pallet storage space having a kind of rack to store the pallet is already various. form and is in use.

Hereinafter, an apparatus and method for measuring the position of a pallet storage space will be described with reference to the drawings according to embodiments of the present specification.

Figure 2 is a block diagram of the apparatus for measuring the location of the pallet storage space according to an embodiment of the present specification.

The apparatus 200 for measuring the position of the pallet storage space according to an embodiment of the present specification includes a control unit 210 , a sensor unit 220 , an imaging unit 230 , a measurement unit 240 , and a driver 250 .

The sensor unit 220 performs sensing to determine whether the pallet transfer device is placed in the correct position when placed in the measurement target position. In an embodiment of the present invention, the sensor unit 220 may further include a beam emitter ( 320 in FIG. 3 to be described later) and a sensing unit ( 330 in FIG. 3 to be described later). The arrangement, operation method, and configuration of the beam light emitting unit 320 and the sensing unit 330 will be described later with reference to FIGS. 3 to 6 . The sensor unit 220 transmits the detection result to the control unit 210 .

The imaging unit 230 takes a picture of an object in the imaging angle so that a remotely located operator can confirm whether the pallet transfer device is placed in the correct position when it is placed in the measurement target position. The arrangement, operation method, and configuration of the imaging unit will be described later with reference to FIGS. 3 to 6 . The imaging unit 230 transmits the captured image to the control unit 210 .

When the control unit 210 determines that the pallet transfer device is correctly placed at the measurement target position, the measurement unit 240 measures the position value of the pallet transfer device. The measured position value is transmitted to the control unit 210 .

The driver 250 is a component for controlling the physical operation of the processing device, such as the movement and processing of the actual pallet transport device and assembly of parts. The driver 250 operates each component of the processing apparatus 200 under the control of the control unit 210 .

The control unit 210 controls the operation of each component of the processing apparatus 200 . In particular, the control unit 210 determines the position of the pallet transfer device based on the information received from the sensor unit 220 and the imaging unit 230 when measuring the position of the rack in the pallet storage space according to an embodiment to be described later. .

In addition, the control unit 210 may output an alarm through an alarm unit (not shown) when it is determined that the pallet transfer device is correctly placed in the measurement target position. The alarm may be output audible and/or visually, for example. If there is a measurement value, it can include the position value of the correctly placed measurement target position in the visual alarm content.

However, any component of the position measuring device 200 may be implemented as an independent device. For example, the driver 250 , the measurement unit 240 , and the control unit 210 may be implemented in the processing device, and the sensor unit 220 and the imaging unit 230 may be provided in the transfer device.

Also, the position measuring apparatus 200 may be connected to an external device such as a PC to receive an execution command from the external device or store data to be stored in the memory of the external device.

The specific operation of the position measuring device 200 of the pallet storage space will be described later with reference to FIGS. 3 to 6 .

Figure 3 is a flowchart of a position measurement process of the pallet storage space according to an embodiment of the present specification, Figure 6 is a view for explaining the position measurement process of the pallet storage space using a camera according to an embodiment of the present specification.

3 and 6, the position measuring device in step 210 moves the pallet transport device 300 to the origin when a signal to start measuring the position value of the rack 500 in the pallet storage space is input. .

In the next step 220, the position measuring device gradually moves the pallet transfer device 300 from the origin toward the measurement target rack 500.

In step 230, the position measurement device moves the provided pallet transfer device 300 toward the correct position of the measurement target rack 500, and according to the detection result of the beam sensing unit 330 provided in the measurement target rack 500, pallet transport It is determined whether the device 300 is located in a predetermined position, for example, in front of the measurement target rack 500 . Here, the front of the rack 500 means a position facing the rack so that the pallet transfer device can be accommodated in the rack.

When the beam sensing unit 330 detects the beam emitted from the beam light emitting unit 320, it transmits the detection result to the control unit 210, and the control unit 210 receives the detection result, the pallet transfer device 300 measures It is determined that it is located in front of the target rack 500 .

When it is determined in step 230 that the beam sensing unit 330 is positioned in front of the measurement target rack 500, the control unit 210 generates an alarm through an alarm unit (not shown) in step 240, and the pallet transfer device 300 is measured It notifies the user that it is located in front of the target rack 500 .

If there is no determination that the beam sensing unit 330 is located in front of the measurement target rack 500 in step 230, the beam is detected by the beam sensing unit 330 while gradually moving the pallet transfer device 300 as in step 220. Continue to monitor whether

In step 250, the position measuring device receives the image captured from the imaging unit 310 provided in the pallet transfer device 300, and based on the received image, the image to determine whether the pallet transfer device 300 is located in the correct position read the

Figure 4 is a flow chart of the process of measuring the position of the pallet storage space using a camera according to an embodiment of the present specification.

4 and 6, in step 252, the position measurement device instructs the abrasive device provided in the pallet transfer device 300, for example, the camera 310 to photograph the object within the imaging angle, and acquires the photographed image. As shown in FIG. 6 , the imaging unit 310 is preferably disposed in the center of the pallet transfer device 300 .

In step 254, the position measuring device detects the edge area of the rack 500 in the captured image. The position measuring device checks whether both the left and right corners of the rack are recognized in the captured image.

After checking the edge of the rack in the captured image, the position measuring device in step 256 determines whether the correct position by checking the symmetry of the positions of the left and right corners in the image.

Returning to FIG. 3, it is determined whether the pallet transfer device is positioned in the correct position of the rack to be measured according to the reading result in step 260.

If it is determined in step 260 that the pallet transport device 300 is positioned at the exact position of the rack 500 to be measured, the current position value of the pallet transport device 300 is measured in step 280.

In addition, when it is determined in step 260 that the pallet transport device 300 is positioned at the correct position of the rack 500 to be measured, the control unit generates an alarm through the alarm unit as in step 240, and the pallet transport device 300 is fixed. Notifies the user of the location.

The current position value of the pallet transfer device 300 measured in step 280 is matched with identification information for identifying the measurement target rack 500 and stored.

Check whether there is a next measurement target, if there is a measurement target, return to step 220, and if there is no next measurement target, end measurement of the position of the pallet storage space.

If it is determined in step 260 that the pallet transport device 300 is not positioned in the correct position of the rack to be measured, the position of the pallet transport device 300 is finely adjusted and returns to step 250 . Here, in order to finely adjust, for example, the beam sensor unit adjusts the position of the pallet transfer device 300 within the position range that can sense the beam, and the movement speed at this time is lower than the movement speed of the transfer device in step 220 speed can be made

5 is a view for explaining a position measurement process of the position measurement device of the pallet storage space according to an embodiment of the present specification.

Pallet storage space 400 consists of each rack 500, the rack 500 may be made of one or more layers.

The pallet transfer device 300 can be moved according to the command of the position measuring device 200, and by acquiring the position value of the rack 500, identification information 101, 102, 103 ... ) and can be saved. In addition, if each pallet identification number, material existence information data for each pallet, and material number data are utilized, the worker enters only the desired material during processing or when changing the pallet, or enters information such as the desired pallet number and transfers the pallet to the matching rack. (300) can be transferred.

At this time, it will be understood that each block of the flowchart diagrams and combinations of the flowchart diagrams may be performed by computer program instructions. These computer program instructions may be embodied in a processor of a general purpose computer, special purpose computer, or other programmable data processing equipment, such that the instructions performed by the processor of the computer or other programmable data processing equipment are not described in the flowchart block(s). It creates a means to perform functions. These computer program instructions may also be stored in a computer-usable or computer-readable memory that may direct a computer or other programmable data processing equipment to implement a function in a particular manner, and thus the computer-usable or computer-readable memory. It is also possible that the instructions stored in the flow chart block(s) produce an article of manufacture containing instruction means for performing the function described in the flowchart block(s). The computer program instructions may also be mounted on a computer or other programmable data processing equipment, such that a series of operational steps are performed on the computer or other programmable data processing equipment to create a computer-executed process to create a computer or other programmable data processing equipment. It is also possible that instructions for performing the processing equipment provide steps for performing the functions described in the flowchart block(s).

Additionally, each block may represent a module, segment, or portion of code that includes one or more executable instructions for executing specified logical function(s). It should also be noted that in some alternative implementations it is also possible for the functions recited in blocks to occur out of order. For example, two blocks shown one after another may in fact be performed substantially simultaneously, or it is possible that the blocks are sometimes performed in the reverse order according to the corresponding function.

At this time, the term '~ unit' used in this embodiment means software or hardware components such as FPGA or ASIC, and '~ unit' performs certain roles. However, '-part' is not limited to software or hardware. The '~ unit' may be configured to reside on an addressable storage medium or may be configured to refresh one or more processors. Thus, as an example, '~' denotes components such as software components, object-oriented software components, class components, and task components, and processes, functions, properties, and procedures. , subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables. The functions provided in the components and '~ units' may be combined into a smaller number of components and '~ units' or further separated into additional components and '~ units'. In addition, components and '~ units' may be implemented to play one or more CPUs in a device or secure multimedia card.

Those of ordinary skill in the art to which this specification belongs will be able to understand that the present specification may be embodied in other specific forms without changing the technical spirit or essential features thereof. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. The scope of the present specification is indicated by the claims described below rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts are included in the scope of the present specification. should be interpreted

On the other hand, in the present specification and drawings, preferred embodiments of the present specification have been disclosed, and although specific terms are used, these are only used in a general sense to easily explain the technical content of the present specification and help the understanding of the present invention, It is not intended to limit the scope of the specification. It will be apparent to those of ordinary skill in the art to which this specification pertains that other modifications based on the technical spirit of the present specification may be implemented in addition to the embodiments disclosed herein.

200: position measuring device
210: control unit
220: sensor unit
230: imaging unit
240: measurement unit
250: driver

Claims (7)

As a position measuring device of the pallet storage space for measuring the position value of each rack in the pallet storage space using the pallet transfer device,
a beam light emitting unit provided on the pallet transfer device;
a sensing unit provided in each rack to sense the beam from the beam emission unit;
a control unit for determining whether the pallet transfer device has moved to a predetermined position according to the sensing result of the sensing unit;
a measurement unit for measuring the position value of the correct position according to the instruction of the control unit; and
It is provided on the pallet transfer device, and includes an imaging unit for capturing an image within an imaging angle and delivering the captured image to the control unit,
The control unit determines whether the pallet transfer device is located in the correct position based on the image,
The control unit recognizes the left and right corners of the rack in the image, and by checking the symmetry of the positions of the left and right corners in the image, the position measuring device of the pallet storage space, characterized in that to determine whether the correct position of the pallet transfer device. delete delete As a position measurement method for measuring the position value of each rack in the pallet storage space by the position measurement device of the pallet storage space,
When a signal to start measuring the position value of the rack (rack) in the pallet storage space is input, moving the pallet transfer device from the origin to the measurement target rack;
Determining whether the pallet transport device has moved to a predetermined position according to the result of sensing the beam emitted by the beam light emitting unit provided in the pallet transport device is sensed by the sensing unit provided in the measurement target rack;
Measuring the position value of the pallet transport device when it is determined that the transport device has moved to a predetermined position;
storing the matching identification information for identifying the measurement target rack and the location value;
Between the steps of determining whether the pallet transporting device has moved to a predetermined position and measuring the position value of the pallet transporting device, the imaging unit provided in the pallet transporting device captures an image within the imaging angle, and the captured image Comprising the step of determining whether the pallet transfer device is located in the correct position based on,
The step of determining whether the pallet transfer device is located in the correct position, recognizing the left and right corners of the rack in the image, determining the symmetry of the positions of the left and right corners in the image to determine whether the pallet transfer device is in the correct position A method of measuring the position of the pallet storage space characterized by it. delete The method of claim 1,
As a result of the control unit determining the position of the pallet transport device based on the image, when it is determined that the pallet transport device is not located in the correct position,
The position measuring device is a pallet position measuring device for re-adjusting the position of the pallet transport device within the range that can be sensed by the beam from the beam light emitting unit by the sensing unit. 7. The method of claim 6,
The position measuring device moves the pallet transport device from the origin to the corresponding rack at a first speed to measure the position value of each rack in the pallet storage space,
When re-adjusting the position of the pallet transport device moved to the corresponding rack, the pallet position measuring device for moving the pallet transport device at a second speed lower than the first speed.

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