KR102515061B1 - Method for preventing collision of automated guided vehicle for automated guided vehicle system - Google Patents

Abstract

A method for preventing collision of an unmanned guided vehicle system according to the present invention is an unmanned guided vehicle system for preventing a collision between a first unmanned guided vehicle and a second unmanned guided vehicle provided and operated in the unmanned guided vehicle system. A vehicle collision avoidance method comprising: (a) a collision detection area of the first automatic guided vehicle which is formed in a circular shape with a center located on the first automatic guided vehicle and which is wider than an outer area of the first automatic guided vehicle; and setting a collision detection area of the second automatic guided vehicle, each having a circular shape located on the second automatic guided vehicle and wider than an outer area of the second automatic guided vehicle; (b) checking whether a collision detection area of the first automatic guided vehicle overlaps with a collision detection area of the second automatic guided vehicle; (c) When the collision detection area of the first automatic guided vehicle overlaps with the collision detection area of the second automatic guided vehicle, an extension line in the traveling direction of the first automatic guided vehicle and an extension line in the traveling direction of the second automatic guided vehicle checking intersections where minutes intersect; and (d) if the intersection exists in step (c), decelerating or stopping the first automatic guided vehicle and the second automatic guided vehicle whose intersection is located in the traveling direction; include

Description

Collision avoidance method of unmanned guided vehicle system

The present invention relates to a method for preventing collision of unmanned guided vehicles of an unmanned guided vehicle system, and more particularly, to a method for preventing collision between unmanned guided vehicles of an unmanned guided vehicle system for preventing collision between unmanned guided vehicles approaching each other during operation. will be.

In the modern society we live in, technology for quickly distributing manufactured goods is becoming a core competitive edge for companies engaged in the logistics industry.

In order to increase competitiveness, we are introducing an unmanned guided vehicle system and expanding the use of unmanned guided vehicles or robots in places where it is difficult to work with manpower, saving labor costs and increasing work efficiency and productivity.

The unmanned guided vehicle system basically includes a plurality of unmanned guided vehicles and a main control unit that controls driving and operation of the entire unmanned guided vehicle. The unmanned guided vehicle and the main control unit each have a wireless communication unit for exchanging commands through mutual communication.

The unmanned guided vehicle can move while exchanging signals with a transportation path painted with magnetic paint on a driving surface such as a factory floor or warehouse floor, or an induction wire installed under the driving surface. Recently, an unmanned guided vehicle that runs along the track on the map by constructing a map without the need for a physical track using ultrasonic sensor, stereo vision camera, laser, and GPS technology has appeared.

The main control unit grasps the status of the entire system and transmits work commands to be executed by each unmanned guided vehicle to each unmanned guided vehicle through a wireless communicator in a certain communication format. The unmanned guided vehicle receives the command transmitted by the main control unit through a wireless communication device, and moves along the indicated path according to the contents of the instructed task command or performs the indicated transport task.

When several unmanned guided vehicles are operated in the same workspace, it frequently occurs that the unmanned guided vehicles approach within a certain distance or the driving routes of the unmanned guided vehicles overlap. Therefore, in order to operate several unmanned guided vehicles, it is necessary to control driving so that the unmanned guided vehicles do not collide while driving.

Currently, various methods for preventing collisions between unmanned guided vehicles have been developed and used, but research is being conducted to develop collision avoidance technology that can effectively prevent collisions between unmanned guided vehicles without reducing the work efficiency of unmanned guided vehicles. Development is continuously taking place.

Registered Patent Publication No. 10-2006401 (2019. 10. 01.)

The present invention has been devised in view of the above-mentioned points, and provides a method for preventing collisions between unmanned guided vehicles of an unmanned guided vehicle system that can effectively prevent collisions between unmanned guided vehicles without reducing the work efficiency of the unmanned guided vehicles. intended to provide

In order to solve the above object, a method for preventing collision of an unmanned guided vehicle system according to the present invention prevents a collision between a first unmanned guided vehicle and a second unmanned guided vehicle provided and operated in an unmanned guided vehicle system A method for preventing collision of an unmanned guided vehicle system for: (a) the first unmanned guided vehicle having a circular shape with a center located on the first unmanned guided vehicle and wider than an outer area of the first unmanned guided vehicle; setting a collision detection area of a car and a collision detection area of the second automatic guided vehicle which is formed in a circular shape with a center located on the second automatic guided vehicle and is wider than an outer area of the second automatic guided vehicle; (b) checking whether a collision detection area of the first automatic guided vehicle overlaps with a collision detection area of the second automatic guided vehicle; (c) When the collision detection area of the first automatic guided vehicle overlaps with the collision detection area of the second automatic guided vehicle, an extension line in the traveling direction of the first automatic guided vehicle and an extension line in the traveling direction of the second automatic guided vehicle checking intersections where minutes intersect; and (d) if the intersection exists in step (c), decelerating or stopping the first automatic guided vehicle and the second automatic guided vehicle whose intersection is located in the traveling direction; include

The radius (r) of the collision detection area of each of the first and second automatic guided vehicles may be proportional to the moving speed of each of the first and second automatic guided vehicles.

The radius (r) of the collision detection area of each of the first and second automatic guided vehicles may be calculated by Equation 1 below.

Formula 1

(ω: weight (ω>1), v: current moving speed of the automated guided vehicle, t: time required for the automated guided vehicle to decelerate and stop, offset: a parameter given by the manager)

The radius (r) of the collision detection area of each of the first and second automatic guided vehicles may be calculated by Equation 2 below.

(ω: weight (ω>1), a: deceleration of the automated guided vehicle, v: current moving speed of the automated guided vehicle, offset: parameter given by the manager)

The center of the collision detection area of each of the first and second automatic guided vehicles may be located at the center of each of the first and second automatic guided vehicles.

In the method for preventing collision of an unmanned guided vehicle system according to the present invention, prior to the step (b), (e) includes an outer area of the first unmanned guided vehicle that is larger than the outer area of the first unmanned guided vehicle. but including a protection area of the first automatic guided vehicle that is smaller than the collision detection area of the first automatic guided vehicle and an outer area of the second automatic guided vehicle that is larger than the outer area of the second automatic guided vehicle, but the second setting a protection area of the second automatic guided vehicle that is smaller than a collision detection area of the automatic guided vehicle; After the step (b), (f) when the collision detection area of the first automatic guided vehicle overlaps with the collision detection area of the second automatic guided vehicle, the first automatic guided vehicle and the second automatic guided vehicle checking whether at least one of the collision detection areas overlaps with at least one of the protection areas of the first and second automatic guided vehicles; and (g) when at least one of the collision detection areas of the first and second automatic guided vehicles overlaps with at least one of the protection areas of the first and second automatic guided vehicles, respectively. and decelerating or stopping an automatic guided vehicle whose collision detection area overlaps with a protection area of another automatic guided vehicle among the first automatic guided vehicle and the second automatic guided vehicle.

In the method for preventing collision of an unmanned guided vehicle system according to the present invention, prior to the step (b), (e) includes an outer area of the first unmanned guided vehicle that is larger than the outer area of the first unmanned guided vehicle. but including a protection area of the first automatic guided vehicle that is smaller than the collision detection area of the first automatic guided vehicle and an outer area of the second automatic guided vehicle that is larger than the outer area of the second automatic guided vehicle, but the second setting a protection area of the second automatic guided vehicle that is smaller than a collision detection area of the automatic guided vehicle; After the step (b), (f) when the collision detection area of the first automatic guided vehicle overlaps with the collision detection area of the second automatic guided vehicle, the first automatic guided vehicle and the second automatic guided vehicle checking whether at least one of the collision detection areas overlaps with at least one of the protection areas of the first and second automatic guided vehicles; and (g) when at least one of the collision detection areas of the first and second automatic guided vehicles overlaps with at least one of the protection areas of the first and second automatic guided vehicles, respectively. and decelerating or stopping an automatic guided vehicle whose protection area overlaps with an dispatch detection area of another automatic guided vehicle among the first and second automatic guided vehicles.

A protection area of each of the first and second automatic guided vehicles may be set as an area protected by a sensor installed so that each automatic guided vehicle can detect an object around it.

In step (d), if the intersection is located in the traveling direction of the first and second automatic guided vehicle, the intersection of the first and second automatic guided vehicle It is possible to decelerate or stop an unmanned guided vehicle with a relatively long moving distance.

According to the collision avoidance method of the unmanned guided vehicle system according to the present invention, a collision detection area wider than the outer area of each unmanned guided vehicle is set according to the moving speed of each unmanned guided vehicle approaching each other during operation, and the collision detection area Only under these overlapping conditions, the automatic guided vehicle is controlled to decelerate or stop. Therefore, it is possible to efficiently operate the unmanned guided vehicles while effectively reducing the risk of collision between the unmanned guided vehicles under various driving conditions.

1 illustrates an example of an automatic guided vehicle controlled by an automatic guided vehicle collision avoidance method of an automatic guided vehicle system according to an embodiment of the present invention.
2 is a control flow chart illustrating a method for preventing collision of an automatic guided vehicle in an automatic guided vehicle system according to an embodiment of the present invention.
3 to 9 illustratively illustrate a specific method of controlling an automatic guided vehicle according to the automatic guided vehicle collision avoidance method of the automatic guided vehicle system according to an embodiment of the present invention in various operating situations of the automatic guided vehicle.

Hereinafter, the automatic guided vehicle collision prevention method of the automatic guided vehicle system according to the present invention will be described in detail with reference to the accompanying drawings.

1 shows an example of an unmanned guided vehicle controlled by a method for preventing collision of an unmanned guided vehicle system according to an embodiment of the present invention, and FIG. 2 is an unmanned guided vehicle system according to an embodiment of the present invention. It is a control flow chart to explain the automatic guided vehicle collision avoidance method.

A method for preventing collision of an unmanned guided vehicle system according to an embodiment of the present invention is to prevent a collision between unmanned guided vehicles provided and operated in an unmanned guided vehicle system. Here, the automatic guided vehicle system may include a plurality of automatic guided vehicles and a main control unit for controlling the plurality of automatic guided vehicles. The main control unit may communicate with an individual control unit provided in each unmanned guided vehicle to control the unmanned guided vehicle to travel along a set path. The automatic guided vehicle system according to an embodiment of the present invention may be executed through a main control unit or individual control units provided in each automatic guided vehicle.

As shown in FIG. 1, in the method for preventing collision of an automatic guided vehicle system according to an embodiment of the present invention, a protection area 30 and a collision detection area 40 are provided for each automatic guided vehicle 10. settings, and each automatic guided vehicle 10 can be controlled using the protection area 30 and the collision detection area 40 of each automatic guided vehicle 10 .

The protection area 30 is an area that extends a predetermined width from the outer area 20 of the automatic guided vehicle 10 . The protection area 30 may be determined by a detection sensor such as a laser scanner installed in the automatic guided vehicle 10 and capable of detecting an object around the automatic guided vehicle 10 . That is, the protection area 30 may be set as an area protected by a detection sensor such as a laser scanner installed in the automatic guided vehicle 10 or a detection area of a detection sensor such as a laser scanner.

The automatic guided vehicle 10 is controlled so that obstacles or other automatic guided vehicles 10 do not reach the protection area 30 while driving. That is, when an obstacle or another automatic guided vehicle 10 reaches the protection area 30 while the automatic guided vehicle 10 is in operation, the automatic guided vehicle 10 may be controlled to make an emergency stop. The protection area 30 may be determined to have an appropriate size according to the size of the automatic guided vehicle 10 and the like. When the protection area 30 is set for the automatic guided vehicle 10, relative coordinates of the boundary of the protection area 30 may be determined based on the center Cv of the automatic guided vehicle 10. Therefore, if the coordinate values of the center Cv of the automatic guided vehicle 10 are checked while the automatic guided vehicle 10 is stopped or running, the coordinate values of the boundary of the protection area 30 can be known.

The collision detection area 40 is set as a circular area whose center is located on the automatic guided vehicle 10 and includes the protection area 30 . The center of the collision detection area 40 may be located at the center Cv of the automatic guided vehicle 10 . The collision detection area 40 may be set to a size considering the maximum distance required until the automatic guided vehicle 10 decelerates and stops from the current position while moving. The size of the collision detection area 40 may be proportional to the current moving speed of the automatic guided vehicle 10 .

Specifically, the radius r of the collision sensing area 40 may be calculated by Equation 1 below.

Formula 1

Here, ω is a weight (ω>1), v is the current moving speed of the automatic guided vehicle, t is the time taken for the automatic guided vehicle to decelerate and stop, and offset is a parameter assigned by the manager. ω may be variously determined as a number greater than 1 according to the weight of the automated guided vehicle or the operating environment of the automated guided vehicle. t is the time required for the automatic guided vehicle to decelerate and stop while traveling at the current moving speed (v), which may be determined according to the specifications of the automatic guided vehicle, etc., and may be designated by a manager. The offset can be variously determined by the manager depending on the weight of the automated guided vehicle, operating environment of the automated guided vehicle, and the load or type of cargo transported by the automated guided vehicle. The manager can adjust the size of the collision detection area 40 by determining ω and offset as appropriate values according to the operating environment of the automatic guided vehicle.

For example, in order to further reduce the risk of collision of the automatic guided vehicle even if the operation time of the automatic guided vehicle is delayed, the manager may determine ω and the offset as relatively large values. On the other hand, in the case of reducing the working time of an unmanned guided vehicle, a manager may determine ω and offset as relatively small values.

In addition, the radius r of the collision sensing area 40 may be calculated by Equation 2 below.

Formula 2

Here, ω is a weight (ω>1), a is the deceleration of the automatic guided vehicle, v is the current moving speed of the automatic guided vehicle, and offset is a parameter given by the manager. a is the deceleration rate set so that the automatic guided vehicle decelerates during normal driving. In an emergency situation, the automatic guided vehicle may be controlled to decelerate at a deceleration rate different from a in Equation 2 above.

Even when the automatic guided vehicle 10 is stopped, a minimum collision detection area 40 may be set in the automatic guided vehicle 10 .

(a) of FIG. 1 shows the collision detection area 40 set in the moving automatic guided vehicle 10, and (b) shows the collision detection area 40 set in the stopped automatic guided vehicle 10. it is shown It is preferable that the collision detection area 40 of the stopped automatic guided vehicle 10 also has a larger size than the protection area 30 .

When the collision detection area 40 is set for the automatic guided vehicle 10, relative coordinates of the boundary of the collision detection area 40 may be determined based on the center Cv of the automatic guided vehicle 10. Therefore, if the coordinate value of the center Cv of the automatic guided vehicle 10 is checked while the automatic guided vehicle 10 is stopped or in motion, the coordinate value of the boundary of the collision detection area 40 can be known.

As shown in FIG. 2 , in the method for preventing collision of an unmanned guided vehicle system according to an embodiment of the present invention, the collision detection area 40 of the unmanned guided vehicle 10 during operation of the unmanned guided vehicle 10 is When there is a risk of collision between the automatic guided vehicles 10 overlapping with the collision detection area 40 of another automatic guided vehicle 10, the automatic guided vehicle 10 is controlled to decelerate or stop so that the automatic guided vehicle 10 ) can prevent conflicts between

Hereinafter, for convenience of description, two automated guided vehicles approaching each other during operation will be described separately as a first automated guided vehicle 10 and a second automated guided vehicle 10'.

In the method for preventing collision of an unmanned guided vehicle system according to an embodiment of the present invention, the collision detection area 40 (40') is set for each unmanned guided vehicle (10) (10') (S10). ) and the step of checking whether the collision detection areas 40 and 40' overlap (S20), and each of the moving direction extensions of the automatic guided vehicles 10 and 10' where the overlapping area 50 occurs ( A step (S30) of generating L1)(L2) and calculating an intersection point P between the forward direction extension segments L1 and L2, and checking whether or not the intersection point P exists between the progress direction extension segments L1 and L2. Checking (S40), and controlling each of the automatic guided vehicles 10 and 10' according to whether or not the intersection point P of the extension lines L1 and L2 exists (S50 to S90). The protection areas 30 and 30' for each automatic guided vehicle 10 and 10' may be set at an initial stage of system setting and stored in an individual control unit or a main control unit.

Here, the moving direction extension lines L1 and L2 of each of the automatic guided vehicles 10 and 10' may be generated from the moving direction vectors of each of the automatic guided vehicles 10 and 10'. That is, a traveling direction vector for each of the unmanned guided vehicles 10 (10') in progress is generated, and a line segment obtained by extending each traveling direction vector is a traveling direction extension line segment (L1) of each unmanned guided vehicle 10 (10'). ) (L2).

A method for preventing collision of an unmanned guided vehicle system according to an embodiment of the present invention determines whether the collision detection areas 40 and 40' of the unmanned guided vehicles 10 and 10' colliding with each other and , whether or not the moving direction extension lines L1 and L2 of the autonomous guided vehicles 10 and 10' intersect, and the intersection point P at which the traveling direction extension lines L1 and L2 intersect is each unmanned guided vehicle. The automatic guided vehicle 10 (10') can be controlled in various ways depending on whether or not the vehicle 10 (10') exists in the traveling direction.

Hereinafter, a specific method of controlling an automatic guided vehicle through the automatic guided vehicle collision avoidance method of the automatic guided vehicle system according to an embodiment of the present invention under various operating conditions as shown in FIGS. 3 to 9 will be described.

First, FIG. 3 shows a condition in which the collision detection areas 40 and 40' do not overlap while the first and second automatic guided vehicles 10 and 10' move in parallel directions. . In this case, if it is confirmed through step S20 of FIG. 2 that the collision detection areas 40 and 40' of each of the automatic guided vehicles 10 and 10' do not overlap, the first automatic guided vehicle 10 and the 2 The automatic guided vehicle 10' is controlled to proceed while maintaining each moving speed.

FIG. 4 shows conditions in which the first automatic guided vehicle 10 and the second automatic guided vehicle 10' proceed so that their traveling paths overlap each other. In this case, it is confirmed through step S20 of FIG. 2 that there is an overlapping region 50 overlapping the collision detection regions 40 and 40' of each automatic guided vehicle 10 and 10', and step S30 is performed. Through this, the traveling direction vectors of each of the unmanned guided vehicles 10 and 10' are generated, and the traveling direction extension lines L1 and L2 of each unmanned guided vehicle 10 and 10' are generated from these traveling direction vectors. do. Then, an intersection point P at which the moving direction extension lines L1 and L2 of each automatic guided vehicle 10 and 10' intersect is calculated. The intersection point P where the traveling direction extension lines L1 and L2 intersect is obtained by calculating the cross product of the traveling direction vectors for each automatic guided vehicle 10 (10'), and the angle generated from each traveling direction vector. It can be calculated through a step of checking whether there are overlapping coordinates among the coordinates of the extension lines L1 and L2 in the traveling direction. When the automatic guided vehicles 10 (10') move in directions parallel to each other, the cross product of the traveling direction vectors for each automatic guided vehicle 10 (10') is 0, so at this time, each traveling direction extension line (L1) The step of checking whether there are overlapping coordinates among the coordinates of (L2) can be omitted.

Thereafter, through step S40, it is confirmed that there is an intersection point P where the traveling direction extension lines L1 and L2 intersect, and through step S50, the intersection point P is the location of the automatic guided vehicle 10 (10'). Checks if it exists in the forward direction. In the condition of FIG. 4, since the intersection point P exists in the forward echo of each of the two automatic guided vehicles 10 and 10', the intersection point P with each automatic guided vehicle 10 and 10' through step S60 Calculate the moving distance (d1) to (d2). In step S70, the first automatic guided vehicle 10 having a relatively long moving distance is controlled to decelerate or stop. In this step, the second automatic guided vehicle 10' can be controlled to proceed at the same moving speed.

The second automatic guided vehicle 10' first passes through the intersection P, and the collision detection area 40 of the first automatic guided vehicle 10 and the collision detection area 40' of the second automatic guided vehicle 10' ) do not overlap, the first automatic guided vehicle 10 can be controlled to travel at the original moving speed.

5 shows that the extension lines L1 and L2 of the first and second automatic guided vehicles 10 and 10' intersect, and the intersection point P is the second automatic guided vehicle 10'. ) indicates the condition that exists in the direction of progress. In this case, it is confirmed through step S20 of FIG. 2 that there is an overlapping region 50 overlapping the collision detection regions 40 and 40' of each automatic guided vehicle 10 and 10', and step S30 is performed. Through this, an extension line segment (L1) (L2) in the traveling direction of each of the automatic guided vehicles (10) (10') is generated, and an extension line segment (L1) (L2) in the traveling direction of each automatic guided vehicle (10) (10') is generated. Calculate the intersection point (P) where this intersects.

Thereafter, through step S40, it is confirmed that there is an intersection point P where the traveling direction extension lines L1 and L2 intersect, and through step S50, the intersection point P is the location of the automatic guided vehicle 10 (10'). Checks if it exists in the forward direction. At this time, since the intersection point P does not exist in the traveling direction of the first automatic guided vehicle 10 but in the traveling direction of the second automatic guided vehicle 10', the first automatic guided vehicle 10 moves at the same speed. and only the second automatic guided vehicle 10' is controlled to decelerate or stop. In addition, the collision detection area 40 of the first automatic guided vehicle 10 and the second automatic guided vehicle 10' are detected when the distance between the first automatic guided vehicle 10 and the second automatic guided vehicle 10' is distant. When the areas 40' do not overlap, the second automatic guided vehicle 10' can be controlled to travel at the original moving speed.

FIG. 6 shows conditions in which the second automatic guided vehicle 10' proceeds toward the first automatic guided vehicle 10 while the first automatic guided vehicle 10 is stopped. In this case, through step S20 of FIG. 2, it is confirmed whether there is an overlapping area 50 where the collision detection areas 40 and 40' of each unmanned guided vehicle 10 and 10' overlap, and then through step S30. Extension lines L1 and L2 in the traveling direction of each of the automatic guided vehicles 10 and 10' are generated. At this time, since the first automatic guided vehicle 10 exists on the extension line L2 of the traveling direction of the second automatic guided vehicle 10', the second automatic guided vehicle 10' is controlled to decelerate or stop.

In the case of these operating conditions, the second automatic guided vehicle 10' stops, changes direction, or It can be controlled to reverse. In addition, the second automatic guided vehicle 10' moves closer to the first automatic guided vehicle 10 in a decelerated state, so that the protection area 30 of the first automatic guided vehicle 10 becomes the second automatic guided vehicle 10'. ) overlaps with the collision detection area 40' or the protection area 30' of the second automatic guided vehicle 10' overlaps the collision detection area 40 of the first automatic guided vehicle 10 It can be controlled to stop, turn or reverse.

7 and 8 show that the first automatic guided vehicle 10 and the second automatic guided vehicle 10' proceed in parallel directions, respectively, and the collision detection area 40 of each automatic guided vehicle 10 (10') (40') shows the overlapping condition. In this case, it is checked through step S20 of FIG. 2 whether there is an overlapping region 50 where the collision detection regions 40 and 40' of each automatic guided vehicle 10 and 10' overlap, and then step S30. Through this, a line segment (L1) (L2) extending in the traveling direction of each of the automatic guided vehicles (10) (10') is generated, and a line segment (L1) (L2) extending in the traveling direction of each automatic guided vehicle (10) (10') is generated. ) calculates the intersection point (P) at which it intersects.

In the operating conditions of FIGS. 7 and 8 , it is confirmed in step S40 that there is no intersection point P where the extension lines L1 and L2 intersect, and step S80 is performed. In step S80, at least one of the collision detection areas 40 and 40' of each unmanned guided vehicle 10 and 10' is the protection area 30 and 30' of each unmanned guided vehicle 10 and 10'. Check if it overlaps with at least one of them.

In the case of the condition of FIG. 7, the collision detection area 40 (40') of each automatic guided vehicle (10) (10') is the protection area (30) (30') of each automatic guided vehicle (10) (10'). ), each automatic guided vehicle 10 (10') can be controlled to proceed at the same moving speed. If necessary, even under the condition of FIG. 7 , all of the automatic guided vehicles 10 and 10' overlapping the collision detection areas 40 and 40' may be controlled to slow down and proceed.

In the case of the condition of FIG. 8 , since the collision detection area 40 of the first automatic guided vehicle 10 overlaps the protection area 30' of the second automatic guided vehicle 10', the first unmanned guided vehicle 10 through step S90 The transport vehicle 10 is controlled to decelerate or stop. As shown in (a) of FIG. 8, while the first automatic guided vehicle 10 is moving at a predetermined moving speed, the collision detection area 40 of the first automatic guided vehicle 10 is affected by the second automatic guided vehicle 10'. When the moving speed of the first automatic guided vehicle 10 is decelerated when it overlaps with the protection area 30', the collision detection area 40 of the first automatic guided vehicle 10, as shown in (b) of FIG. size becomes smaller. Therefore, by appropriately decelerating the moving speed of the first automatic guided vehicle 10, the collision detection area 40 of the first automatic guided vehicle 10 is changed to the protection area 30' of the second automatic guided vehicle 10'. can be prevented from overlapping. Thereafter, the first automatic guided vehicle 10 is controlled to proceed at a reduced speed, and then the collision detection area 40 of the first automatic guided vehicle 10 and the collision detection area 40 of the second automatic guided vehicle 10' ') can be controlled to proceed at the original movement speed when it does not overlap. Under the driving condition of FIG. 8, while the collision detection areas 40 and 40' of the automatic guided vehicles 10 and 10' overlap, all of the automatic guided vehicles 10 and 10' are controlled to slow down and proceed. can

9 shows that at least one of the collision detection areas 40 and 40' of each automatic guided vehicle 10 and 10' is a protection area 30 and 30' of each automatic guided vehicle 10 and 10'. Indicates another condition that overlaps with at least one of 8 shows a control method for decelerating the moving speed of an automatic guided vehicle that has invaded the protection area of another automatic guided vehicle, whereas FIG. It is to explain.

As shown in (a) of FIG. 9, when the collision detection area 40 of the first automatic guided vehicle 10 overlaps the protection area 30' of the second automatic guided vehicle 10', the second The moving speed of the automatic guided vehicle 10' may be reduced. When the moving speed of the second automatic guided vehicle 10' is appropriately decelerated, the collision detection area 40' of the second automatic guided vehicle 10' is reduced and the second automatic guided vehicle 10' progresses. A situation in which the collision detection area 40' of the second automatic guided vehicle 10' overlaps the protection area 30 of the first automatic guided vehicle 10 can be avoided. In addition, a problem in which the second automatic guided vehicle 10' collides with the first automatic guided vehicle 10 can be prevented.

As described above, in the method for preventing collision of an automatic guided vehicle system according to an embodiment of the present invention, each unmanned guided vehicle is moved according to the moving speed of each of the unmanned guided vehicles 10 and 10' approaching each other during operation. A collision detection area 40 (40') wider than the outer area 20 of the car 10 (10') is set, and each automatic guided vehicle ( 10) (10') can be controlled. Therefore, it is possible to efficiently operate the automatic guided vehicle 10 (10') while effectively reducing the risk of collision between the automatic guided vehicle (10) (10') under various operating conditions.

Although the preferred examples of the present invention have been described above, the scope of the present invention is not limited to the forms described and illustrated above.

For example, the collision detection areas 40 and 40' of each unmanned guided vehicle 10 and 10' may be set in various ways other than the method using Equation 1 or Equation 2 described above.

In addition, in the drawing, the center of the collision detection area 40 (40') set in each unmanned guided vehicle (10) (10') coincides with the center (Cv) of each unmanned guided vehicle (10) (10'). Although shown, the center of the collision sensing area 40 (40') may be changed to another location on each automatic guided vehicle (10) (10').

In the above, the present invention has been shown and described in relation to preferred embodiments for illustrating the principles of the present invention, but the present invention is not limited to the configuration and operation as shown and described. Rather, it will be appreciated by those skilled in the art that many changes and modifications may be made to the present invention without departing from the spirit and scope of the appended claims.

10, 10 ': unmanned transport vehicle 20: outer area
30, 30': protection area 40, 40': collision detection area
50: overlapping area

Claims (9)

A method for preventing collision of an unmanned guided vehicle system of an unmanned guided vehicle system for preventing a collision between a first unmanned guided vehicle and a second unmanned guided vehicle provided and operated in the unmanned guided vehicle system,
(a) a collision detection area of the first automatic guided vehicle formed of a circle with a center located on the first automatic guided vehicle and wider than an outer area of the first automatic guided vehicle, and a center of the second automatic guided vehicle setting a collision detection area of the second automatic guided vehicle which is circular and wider than an outer area of the second automatic guided vehicle;
(b) checking whether a collision detection area of the first automatic guided vehicle overlaps with a collision detection area of the second automatic guided vehicle;
(c) When the collision detection area of the first automatic guided vehicle overlaps with the collision detection area of the second automatic guided vehicle, an extension line in the traveling direction of the first automatic guided vehicle and an extension line in the traveling direction of the second automatic guided vehicle checking intersections where minutes intersect; and
(d) if the intersection exists in step (c), decelerating or stopping the first and second automatic guided vehicles, the intersection of which is located in the traveling direction; do,
The collision avoidance method of the automatic guided vehicle system, characterized in that the radius (r) of the collision detection area of each of the first automatic guided vehicle and the second automatic guided vehicle is calculated by Equation 1 below.
Formula 1

(ω: weight (ω>1), v: current moving speed of the automated guided vehicle, t: time required for the automated guided vehicle to decelerate and stop, offset: a parameter given by the manager)
delete delete A method for preventing collision of an unmanned guided vehicle system of an unmanned guided vehicle system for preventing a collision between a first unmanned guided vehicle and a second unmanned guided vehicle provided and operated in the unmanned guided vehicle system,
(a) a collision detection area of the first automatic guided vehicle formed of a circle with a center located on the first automatic guided vehicle and wider than an outer area of the first automatic guided vehicle, and a center of the second automatic guided vehicle setting a collision detection area of the second automatic guided vehicle which is circular and wider than an outer area of the second automatic guided vehicle;
(b) checking whether a collision detection area of the first automatic guided vehicle overlaps with a collision detection area of the second automatic guided vehicle;
(c) When the collision detection area of the first automatic guided vehicle overlaps with the collision detection area of the second automatic guided vehicle, an extension line in the traveling direction of the first automatic guided vehicle and an extension line in the traveling direction of the second automatic guided vehicle checking intersections where minutes intersect; and
(d) if the intersection exists in step (c), decelerating or stopping the first and second automatic guided vehicles, the intersection of which is located in the traveling direction; do,
The collision avoidance method of the automatic guided vehicle system, characterized in that the radius (r) of the collision detection area of each of the first automatic guided vehicle and the second automatic guided vehicle is calculated by Equation 2 below.
Formula 2

(ω: weight (ω>1), a: deceleration of the automated guided vehicle, v: current moving speed of the automated guided vehicle, offset: parameter given by the manager)
According to claim 1 or 4,
The center of the collision detection area of each of the first and second automatic guided vehicles is located at the center of each of the first and second automatic guided vehicles. How to prevent truck collision.
A method for preventing collision of an unmanned guided vehicle system of an unmanned guided vehicle system for preventing a collision between a first unmanned guided vehicle and a second unmanned guided vehicle provided and operated in the unmanned guided vehicle system,
(a) a collision detection area of the first automatic guided vehicle formed of a circle with a center located on the first automatic guided vehicle and wider than an outer area of the first automatic guided vehicle, and a center of the second automatic guided vehicle setting a collision detection area of the second automatic guided vehicle which is circular and wider than an outer area of the second automatic guided vehicle;
(b) checking whether a collision detection area of the first automatic guided vehicle overlaps with a collision detection area of the second automatic guided vehicle;
(c) When the collision detection area of the first automatic guided vehicle overlaps with the collision detection area of the second automatic guided vehicle, an extension line in the traveling direction of the first automatic guided vehicle and an extension line in the traveling direction of the second automatic guided vehicle checking intersections where minutes intersect; and
(d) if the intersection exists in step (c), decelerating or stopping the first and second automatic guided vehicles, the intersection of which is located in the traveling direction; do,
Before the step (b), (e) the first unmanned guided vehicle including the outer area of the first unmanned guided vehicle but smaller than the collision detection area of the first unmanned guided vehicle Protection of the second automatic guided vehicle including a protection area of the guided vehicle and an outer area of the second automatic guided vehicle that is larger than the outer area of the second automatic guided vehicle but smaller than the collision detection area of the second automatic guided vehicle setting each area;
After the step (b), (f) when the collision detection area of the first automatic guided vehicle overlaps with the collision detection area of the second automatic guided vehicle, the first automatic guided vehicle and the second automatic guided vehicle checking whether at least one of the collision detection areas overlaps with at least one of the protection areas of the first and second automatic guided vehicles; and
(g) when at least one of the collision detection areas of the first and second automatic guided vehicles overlaps with at least one of the protection areas of the first and second automatic guided vehicles; decelerating or stopping an automatic guided vehicle whose collision detection area overlaps with a protection area of another automatic guided vehicle among the first automatic guided vehicle and the second automatic guided vehicle; A method for preventing collisions of unmanned guided vehicles.
A method for preventing collision of an unmanned guided vehicle system of an unmanned guided vehicle system for preventing a collision between a first unmanned guided vehicle and a second unmanned guided vehicle provided and operated in the unmanned guided vehicle system,
(a) a collision detection area of the first automatic guided vehicle formed of a circle with a center located on the first automatic guided vehicle and wider than an outer area of the first automatic guided vehicle, and a center of the second automatic guided vehicle setting a collision detection area of the second automatic guided vehicle which is circular and wider than an outer area of the second automatic guided vehicle;
(b) checking whether a collision detection area of the first automatic guided vehicle overlaps with a collision detection area of the second automatic guided vehicle;
(c) When the collision detection area of the first automatic guided vehicle overlaps with the collision detection area of the second automatic guided vehicle, an extension line in the traveling direction of the first automatic guided vehicle and an extension line in the traveling direction of the second automatic guided vehicle checking intersections where minutes intersect; and
(d) if the intersection exists in step (c), decelerating or stopping the first and second automatic guided vehicles, the intersection of which is located in the traveling direction; do,
Before the step (b), (e) the first unmanned guided vehicle including the outer area of the first unmanned guided vehicle but smaller than the collision detection area of the first unmanned guided vehicle Protection of the second automatic guided vehicle including a protection area of the guided vehicle and an outer area of the second automatic guided vehicle that is larger than the outer area of the second automatic guided vehicle but smaller than the collision detection area of the second automatic guided vehicle setting each area;
After the step (b), (f) when the collision detection area of the first automatic guided vehicle overlaps with the collision detection area of the second automatic guided vehicle, the first automatic guided vehicle and the second automatic guided vehicle checking whether at least one of the collision detection areas overlaps with at least one of the protection areas of the first and second automatic guided vehicles; and
(g) when at least one of the collision detection areas of the first and second automatic guided vehicles overlaps with at least one of the protection areas of the first and second automatic guided vehicles; decelerating or stopping an automatic guided vehicle whose protection area overlaps with an dispatch detection area of another automatic guided vehicle among the first automatic guided vehicle and the second automatic guided vehicle; A method for preventing collisions of unmanned guided vehicles.
According to claim 6 or 7,
The protection area of each of the first and second automatic guided vehicles is set as an area protected by a detection sensor installed so that each automatic guided vehicle can detect an object around it. A method for preventing collision of an unmanned guided vehicle in a vehicle system.
The method of any one of claims 1, 4, 6, and 7,
In step (d), if the intersection is located in the traveling direction of the first and second automatic guided vehicle, the intersection of the first and second automatic guided vehicle A method for preventing collision of an unmanned guided vehicle of an unmanned guided vehicle system, characterized by decelerating or stopping an unmanned guided vehicle having a relatively long moving distance.

Images