KR20170050499A

KR20170050499A - System for controlling Automatic guided vehicle

Info

Publication number: KR20170050499A
Application number: KR1020150152100A
Authority: KR
Inventors: 최재호; 김대진
Original assignee: 캐논코리아비즈니스솔루션 주식회사
Priority date: 2015-10-30
Filing date: 2015-10-30
Publication date: 2017-05-11

Abstract

The present invention relates to a self-path correction and departure prevention system for an unmanned conveyance vehicle using wireless communication, the system comprising: a self-path correction / And a processing unit provided in the automatic guided vehicle and analyzing a signal transmitted from the repeater to determine the intensity of signal and information of the repeater contained in the signal. It is possible to move accurately along the route without using the line trace method or the GPS method when using the unmanned conveyance vehicle by providing the self path correction and departure prevention system of the unmanned conveyance vehicle using the line tracing method, To move faster and to detect more accurately when There is an effect that can be modified with the correct path.

Description

Technical Field [0001] The present invention relates to a system for controlling an automatic guided vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a self-path correction and departure prevention system for an unmanned conveyance vehicle using wireless communication, and more particularly, It is a self-path preservation and separation prevention system of an unmanned conveyance vehicle using wireless communication that provides a technique for automatically correcting a shifted path due to a difference in signal strength.

One of the most used technologies in the industrial field, especially in production sites that run factories and lines, is the unmanned buggy. An unmanned return vehicle refers to an automobile that travels along a fixed path that a person does not travel. Unmanned vehicles are used especially in the field of production, in regular deliveries of insufficient assembled parts, in transporting and assembling garbage, moving repeated parts such as moving parts, moving a large amount of people to move, It is often used to deal with the tricky things people do not have to do.

In general, an unmanned conveyor carries a line trace system that follows a path with a colored tape attached to the floor to provide a movement path. The line tracing method is a method in which a sensor capable of distinguishing colors is provided at the lower end of an unmanned conveying vehicle and the sensor always recognizes the same color while moving in a straight line along a desired path, When recognizing a different color, it is a case of recognizing a colored tape. This means that the current path is switched in a non-linear direction. Therefore, the movement is stopped and the wheel is rotated in the direction of the recognized sensor, . The production of an unmanned conveyance vehicle using the line trace method is not a difficult technique as described above, so it is easy to maintain, and it is possible to manufacture an unmanned conveyance vehicle using the bottom surface and another colored tape The cost of introduction is also low, and it is used in many industrial fields.

However, since the width of the colored tape that provides the path for moving the line tracing type unmanned conveying vehicle described above is narrow, the line tracing type unmanned conveying car can not move at a high speed. When the unmanned conveyance vehicle moves at a high speed in a direction not parallel to the path, when the unmanned conveyance vehicle moves a certain distance due to inertia while recognizing the colored tape and stopping the unmanned conveyance vehicle that is moving, This is because there is a danger that the portion with the colored tape may pass through the path line of the colored tape. In this case, the unmanned conveyance car is deviated in a completely different direction from the set path, and the user needs to modify the path. The above problem can be solved by increasing the width of the line after using the colored tape several times to increase the thickness of the line. However, in this case, the movement route can not be made compact and it is difficult to set the movement and direction conversion route at the line intersection.

In order to solve the above-described problems, it is a positional identification using a global positioning system (GPS) or the like as an alternative in the industrial field. Such positioning techniques have been extended to various fields besides the original military applications. For example, in ground transportation such as rail transport, positioning techniques are adapted to locate and control trains to prevent trains from colliding with each other, and also to increase system transport capacity and efficiency. In car navigation, positioning techniques are used to provide vehicle drivers with an automatic navigation function that finds the shortest path to a destination. In air transportation, the positioning and navigation functions of the GPS technology are used to facilitate and facilitate the aircraft's automatic navigation system during landing and flight.

However, in order to grasp the movement of objects using GPS, the error range of the space actually used in the industrial field is too wide, and even if the unmanned return vehicle equipped with GPS is operated automatically, it can not be free from the deviation of the route.

SUMMARY OF THE INVENTION The present invention is conceived to solve the above-described problems, and it is an object of the present invention to provide a technology for locating a current route of an unmanned conveyance vehicle using a short-range wireless communication module and automatically returning to a corresponding route when departing from a predetermined route .

As a means for solving the above-mentioned technical problems, there is a method of transmitting a signal from a repeater capable of transmitting a specific signal at regular intervals, receiving and analyzing the signal from the receiver and the main controller of the currently moving automated guided vehicle, The present invention provides a technique for determining whether a current path is in accordance with the strength of a received signal and correcting the path to an appropriate path when the path is shifted.

When the present invention is used, it is possible to move accurately along the route without using the line trace method or the GPS method when using the unmanned conveyance vehicle, and to move the correct route more quickly when used with the line trace method, You can detect and correct the correct path.

FIG. 1 is a flowchart for determining whether or not a straight path is shifted while moving according to an embodiment of the present invention.
FIG. 2 is a schematic diagram illustrating a process of determining whether or not a straight-line path is shifted during movement according to an embodiment of the present invention.
FIG. 3 is a flowchart for determining whether a curve path is shifted during movement according to an embodiment of the present invention.
4 is a schematic diagram illustrating a process of determining whether a curved path is shifted during movement according to an embodiment of the present invention.
5 is a flow chart according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly explain the present invention, parts not related to the description are omitted.

Furthermore, when a part is referred to as being "comprising" or "comprising" an element, it is understood that it may include other elements as well, without excluding other elements unless specifically stated otherwise.

5 is a flowchart according to an embodiment of the present invention.

A main server for controlling the unmanned conveying vehicle and the repeater, and a main server for controlling the unmanned conveying vehicle and the repeater, And a processing unit for analyzing a signal transmitted from the repeater and determining the strength of the signal and the information of the repeater contained in the signal.

In order to use the present invention, a repeater is installed at an interval in an industrial field where the present invention is to be used. Each repeater transmits a unique signal that can be received by the unmanned conveyor. Each repeater transmits a signal containing the position on the current repeater's coordinates. At this time, the position on the coordinate of the repeater is set based on the working plane of the industrial site in which the present invention is to be used. The present invention described above is not specific to the type of the above-mentioned signal, and does not specify details required when actually used, such as the origin of a position on the coordinates of a repeater. For example, the repeater may use known signals such as Bluetooth, Wi-Fi, and NFC (Near Field Communication).

Hereinafter, a method of grasping the distance information and correcting the route is shown.

When a receiver provided in the automatic guided vehicle receives a signal transmitted from the at least one repeater, the signal is transmitted to the main controller provided in the automatic guided vehicle. The main controller analyzes the received signal to determine which signal the signal originated from which repeater, analyzes the intensity of the signal, and obtains distance information about how far the signal is currently spaced from the corresponding repeater.

When the unmanned conveyance distance information of each of the repeaters is grasped, the main processor grasps the distances between the two repeaters that have transmitted signals to the unmanned conveyance vehicle. If it is determined that the distance between the repeater and the repeater is equal to or greater than the sum of distances between the respective repeaters and the unmanned carrier, it is determined that the current unmanned carrier has departed from the existing route. The sum of the distances of the unmanned transport vehicle in each of the repeaters is equal to the sum of the distances between the two repeaters when the unmanned return carriage moves in accordance with the existing route set in advance. In the above example, if the user leaves the existing path, the path is modified by itself using the trigonometric method.

The foregoing has shown and described specific embodiments. However, it should be understood that the present invention is not limited to the above-described embodiment, and various changes and modifications may be made without departing from the technical idea of the present invention described in the following claims .

Mido City

Claims

A self-path correction and deviation prevention system for an unmanned conveyance vehicle using wireless communication,
Unmanned return vehicle;
A self-path correction and departure prevention system repeater communicating wirelessly with the automatic guided vehicle;
A main server for controlling the unmanned conveyance vehicle and the repeater;
And a processing unit provided in the automatic guided vehicle and capable of analyzing a signal transmitted from the repeater and determining the intensity of signal and information of the repeater contained in the signal, Self-path compensation and deviation prevention system.

The method according to claim 1,
Wherein the repeater is provided so as to form a working plane by arranging at least two of the repeaters at regular intervals on a working plane.

The method according to claim 1,
The departure avoidance system determines that the distance between the unmanned conveyance vehicle and each of the repeaters is out of the set position if the sum of the distances of the repeaters on the two straight line distances does not coincide with the distance of the repeater using the two straight line distances And the self-path correction and departure prevention system of the unmanned conveyance vehicle using wireless communication.

The method of claim 3,
The method of determining the distance includes self-path correction and departure-avoidance system of an unmanned conveyance vehicle using wireless communication using strength of received and transmitted signals.