KR20170142298A - System for moving goods - Google Patents

Abstract

In the present invention, provided is a logistics movement system capable of automatically or manually moving logistics to a target point by using a logistics movement apparatus for tracking a line installed in a logistics space. To this end, according to an embodiment of the present invention, the logistics movement system comprises: a plurality of lines installed on the bottom in a logistics workplace for generating a moving path of logistics; and a logistics movement apparatus including a line tracking module for recognizing the lines, a loading unit for loading the logistics, a movement means, a driving unit, and a control unit for controlling the driving unit to move the logistics to the target point along a path of the lines recognized by the line tracking module. The control unit controls the driving unit to move the logistics movement apparatus to the target point in accordance with a predetermined determination criterion when the line tracking module recognizes a region (overlapping region) where the lines overlap each other. Accordingly, the logistics movement apparatus moved in the logistics workplace accurately recognizes a predetermined line installed in the logistics workplace to effectively move the logistics to the target point.

Description

{SYSTEM FOR MOVING GOODS}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a logistics moving system, and more particularly, to a logistics moving system capable of automatically or manually moving a logistics to a target point by using a logistics apparatus for tracking a line installed in the logistics space.

BACKGROUND ART Conventionally, an AGV (Automatic Guided Vehicle) has been generalized as a device for transferring parts and the like to a specific position in an industrial field.

Generally, in the case of unmanned bogie, it consists of a single type in which the driving unit and the transportation load are integrated.

Also, in the case of the conventional unmanned bogie, the space occupancy is large and the fixed rail or the magnetic tape installed on the bottom surface or the specific landmark is installed to move the logistics through the fixed rail or the specific landmark in order to specify the movement route.

That is, in the conventional logistics moving apparatus as the unmanned lane changing apparatus, an optical induction system is generally used which is controlled mainly through an infrared sensor and an encoder. In this optical induction method, if only the line is displayed on the floor of the workplace, the logistics device can automatically recognize the line and then move the logistics. Such an optical induction method is advantageous in that it is easy to install and has a low cost.

However, the optical guiding method has a disadvantage in that it is effective in a regular workplace, and is not adaptable to a change in the amount of light or color of a line that changes in the workplace.

In addition, the induction line induction method in which lines are formed by electric wires or magnetic is a technique that can compensate for the disadvantages of the optical induction method described above. However, since it has a disadvantage that it is not easy to install, There is a problem.

Therefore, there is a demand for development of an alternative technique or an improvement technique for an optical induction method or an induction line induction method which can solve the problems of the above-described conventional techniques.

In this situation, Korean Patent No. 10-1143892 discloses a self-propelled traveling device and its control method, which performs self-orientation control for accurate movement of the autonomous traveling device. In this control process, Measure the number and angular velocity. Based on the calculation of the correct posture value of the autonomous navigation apparatus based on the number of revolutions and the angular velocity of the wheel, the prior art is based on the fact that the infra-red sensor, which is highly influenced by the external environment, Thereby enabling quick attitude detection and running control to be performed.

However, since the above technology simply combines the infrared technology and the photographic technology of the prior art and requires a lot of measurement and judgment processes to be applied to the process of moving the goods in the logistics workshop, it is most suitable for the movement process It is necessary to develop technology to do.

Disclosure of Invention Technical Problem [8] Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a logistics moving system capable of automatically or manually moving a logistics to a target point by using a logistics device for tracking lines installed in the logistics space It has its purpose.

According to an aspect of the present invention, there is provided a logistics system including a plurality of lines installed on a floor in a logistics workshop for generating a movement path of a logistics; And a control unit for controlling the driving unit to move to a target point along a path of a line recognized by the line tracking module and a line tracking module for recognizing the line, a loading unit for loading the goods, a moving unit, Wherein the control unit controls the line tracking module so that the line tracking module recognizes the area where the plurality of lines overlap each other (overlapping area) And controls the driving unit.

The control unit may determine the direction of the line before the line tracking module recognizes the overlapping area in the direction of the target point and move the drive unit along the path of the line formed in the determined direction. And a control unit.

The plurality of lines have different widths, and the control unit compares the line widths before the overlapping area with the following line widths, and then controls the drive unit And a control unit.

Each of the plurality of lines includes at least one line unit, and the line tracking module detects a number of the line units included in each of the plurality of lines, The number of the line units of the previous line is compared with the number of the line units of the subsequent lines, and then the drive unit is controlled so that the above-mentioned goods movement apparatus moves to a line whose number matches.

In addition, the logistics moving device may further include a loading section on which the logistics is loaded, a main body, and a boarding section on which the user is boarded, wherein the line tracking module is an infrared ray tracking module.

In addition, a line display unit for displaying a plurality of lines recognized by the line tracking module is formed on an upper portion of the main body.

Further, on the upper portion of the main body, a direction stick for determining a moving direction of the goods moving device, a speed adjusting portion for determining a moving speed, and an automatic manual changeover switch are further formed, And controls the movement device to move according to a user input inputted through the direction stick and the speed control part when the manual mode is selected.

According to one aspect of the present invention, a logistics moving apparatus moving in a logistics workshop accurately recognizes a predetermined line installed in a logistics workplace, and can effectively move the logistics to a target point.

1 is a perspective view showing the overall configuration of a logistics moving system according to an embodiment of the present invention.
FIG. 2 is a side view showing the main body structure of the material movement apparatus according to the embodiment of the present invention.
3 is a flowchart illustrating a control process according to the overlapping zone recognition of the logistics moving system according to the embodiment of the present invention.
FIG. 4 is a flowchart illustrating a control process according to overlapping zone recognition in the logistics moving system according to another embodiment of the present invention.
FIG. 5 is a flowchart illustrating a control process according to another embodiment of the present invention.

The objects, features and advantages of the present invention will become more apparent through the following examples.

The following specific structural or functional descriptions are merely illustrative for purposes of describing an embodiment according to the inventive concept, and it is to be understood that the embodiments according to the inventive concept may be embodied in various forms, It should not be construed as limited to the embodiments.

The embodiments according to the concept of the present invention can make various changes and have various forms, so that specific embodiments are described in detail in the specification or the drawings. It should be understood, however, that the embodiments according to the concept of the present invention are not intended to be limited to any particular mode of disclosure, but include all modifications, equivalents, and alternatives falling within the spirit and scope of the present invention.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when it is mentioned that an element is "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions for describing the relationship between components, such as "between" and "between" or "adjacent to" and "directly adjacent to" should also be interpreted.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise.

It is to be understood that the terms such as " comprises "or" having "in this specification are intended to specify the presence of stated features, integers, But do not preclude the presence or addition of steps, operations, elements, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning of the context in the relevant art and, unless explicitly defined herein, are to be interpreted as ideal or overly formal Do not.

Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings. Like reference symbols in the drawings denote like elements.

First, the construction of a logistics moving system according to an embodiment of the present invention will be described in detail with reference to Figs. 1 and 2. Fig.

FIG. 1 is a perspective view showing an overall configuration of a logistics moving system according to an embodiment of the present invention, and FIG. 2 is a side view showing a configuration of a main body of a logistics moving apparatus according to an embodiment of the present invention.

As shown in FIG. 1, the logistics moving system according to the embodiment of the present invention mainly comprises a logistics moving device 1 and a line 100.

Here, the logistics moving device 1 is a device that moves the logistics along the path of the line 100 by tracking the line 100 installed on the floor in the logistics workshop.

In addition, a plurality of lines 100 may be installed on the floor in the logistics workshop to generate a movement path of the logistics.

Also, a plurality of lines 100 can be installed on the floor in the logistics workshop, and the number of lines can be determined according to the logistics movement path. FIG. 1 shows that one line 100 is formed and shows the state in which the logistics moving device 1 moves and tracks one line 100. FIG.

1, the logistics moving apparatus 1 according to the embodiment of the present invention includes a loading section 10, a line tracking module 20, a main body 30, a boarding section 50, One wheel portion 60 and a second wheel portion 70, as shown in FIG.

The loading section 10 is a section for loading the article to be the object of distribution to a predetermined target point.

In addition, the line tracking module 20 may be provided to recognize the line 100, and may be implemented by an infrared ray line tracking module. That is, the presence or absence of the line 100 can be detected based on the infrared rays.

In addition, the main body 30 may be provided on one side of the loading unit 10 in a vertical direction, and the main body 30 may be provided with various user operating units. 2, the main body 30 is provided with a first handle 11, a second handle 12, an emergency switch 13, a direction stick 14, an automatic manual changeover switch 15, A line display section 16, a power switch 17, a battery remaining amount display section 18, and a speed adjusting section 19 may be provided.

Such a user operation unit is provided for manually operating the logistics moving apparatus 1 by the user when the manual operation mode is switched to the manual mode by the operation of the automatic manual changeover switch 15. [

Specifically, the first grip portion 11 and the second grip portion 12 are provided for the user to support the body so that the user can stably ride on the boarding portion 50 of the goods movement device 1. [

The emergency switch 13 is a switch for forcibly stopping the present material transporting apparatus 1 when an emergency situation occurs while the goods transporting apparatus 1 is moving.

In addition, the direction stick 14 is a portion for determining the direction of movement of the logistics moving apparatus 1 viewed by the user.

The automatic manual changeover switch 15 is a switch for making the movement mode of the present product moving device 1 automatic or manual, and its mode can be changed by the user's operation.

The line display section 16 is a part for displaying a plurality of lines recognized by the line tracking module 20 and displays the state of the line currently recognized by the logistics moving device 1 by the user.

The power switch 17 is a switch for determining the power supply state of the present matter moving device 1. [

The battery remaining amount display unit 18 displays the remaining amount of the battery provided for driving the present logistics moving apparatus 1. [

In addition, the speed regulating portion 19 is a portion for regulating the moving speed of the present logistics moving device 1, and can operate in both automatic or manual modes.

1, a first wheel portion 60, which is a moving means, may be provided under the lower portion of the goods movement device 1, particularly, the loading portion 10. The first wheel portion 60 ) May be made up of four wheels. In particular, the four wheels may be implemented with caster wheels. Caster wheels are generally referred to as rolling wheels or rolling wheels attached to the legs of doors.

As shown in FIG. 1, a second wheel portion 70, which is a moving means, may be provided at a lower portion of the logistics moving device 1, particularly at a lower portion of the user's boarding portion 50, 1, the second wheel portion 70 may be provided as an omni-wheel type.

In addition, the logistics moving apparatus 1 according to the embodiment of the present invention may include a driving unit for driving the first wheel unit 60 and the second wheel unit 70. Whether the driving unit is driven or not is determined through the control of the control unit.

In addition, the control unit controls the driving unit to move to the target point along the path of the line 100 recognized by the line tracking module 20, so that the goods moving device 1 moves through the moving unit.

Particularly, in the case where the line tracking module 20 recognizes an area (overlapping area) in which a plurality of lines 100 overlap each other, the control unit moves the logistics device 1 to a target point according to a predetermined judgment criterion And controls the driving unit.

A control operation of this control unit will be described in detail below with reference to Figs. 3 to 5. Fig.

FIG. 3 is a flowchart illustrating a control process according to the overlapping zone recognition of the logistics moving system according to the embodiment of the present invention. FIG. 4 is a flowchart illustrating a control process according to the overlapping zone recognition of the logistics moving system according to another embodiment of the present invention. FIG. 5 is a flowchart illustrating a control process according to another embodiment of the present invention for recognizing overlapping zones in the logistics moving system.

As shown in FIG. 3, when the line tracking module 20 recognizes a region where a plurality of lines 100 overlap (S31), the controller can determine the line direction before the overlapping region to be the target point direction S33). That is, the traveling direction of the line 100 indicating the path along which the goods movement device 1 travels before the recognition of the overlapping area is determined as the direction in which the target point exists. The path of the line 100 in the same direction as the determined direction is determined to be the path of the logistics moving device 1. When the path to which the logistics moving device 1 moves due to the overlapping area is determined, This is the process of estimating the target path as a basis.

Through the process described above, the logistics moving device 1 can accurately move the logistics to the target point in spite of the existence of the overlapping area. That is, the control unit controls the movement of the goods movement device 1 along a line path formed in the direction of the target point (S35).

Next, another embodiment of the present invention according to recognition of the overlapping area of the line 100 will be described below with reference to Fig.

According to another embodiment of the present invention, as shown in FIG. 4, a plurality of lines have different widths (S41). If an overlapped section in which a plurality of lines having different widths are recognized is recognized (S43), the control section determines whether the line width before the overlapping section is equal to the line width after the overlapping section (S45).

If the line width before the overlapping area is the same as the line width after the overlapping area, the control section controls the movement of the goods transporting device 1 along the line path having the same width (S47).

If the line width before the overlapping area is not the same as the line width after the overlapping area, the overlapping area is recognized again (return to S43) It is determined whether or not the line widths are the same.

Finally, another embodiment of the present invention according to recognition of the overlapping area of the line 100 will be described below with reference to Fig.

According to another embodiment of the present invention, as shown in FIG. 5, a plurality of lines installed on the floor of the logistics workplace may include one or more line units (S51).

In this way, a plurality of lines including one or more line units are distinguished from each other, and a plurality of lines overlap each other. When the logistics moving apparatus 1 recognizes the overlapping area (S51), the control unit determines whether the number of the line units in the previous line of the overlapping area is equal to the number of the line units in the overlapping area (S55).

If the number of the line units in the previous line of the overlapping area is the same as the number of the line units after the overlapping area, the control unit controls the movement of the goods transport device 1 along the line path having the same number (S57). That is, it is determined that the direction in which the number of line units included in one line 100 coincides with the direction of the target point, and controls the movement of the product 1.

If the number of the line units in the previous line of the overlapping area is different from the number of the line units after the overlapping area, the control unit moves the production moving device 1 again to recognize the overlapping area (return to S53).

In the process of sensing and determining lines according to the present embodiment, one or more line tracking modules 20 may be provided. That is, the line units constituting one line of the plurality of lines are arranged at a predetermined interval to form one line. By recognizing a certain interval between the line units, the number of line units constituting one line is recognized A plurality of line tracking modules 20 may be provided.

For example, when there are two line units constituting one line (the number of line units formed by each line is determined at the time of initial line installation, and then the number of line tracking modules is selected) And the presence of such empty space is recognized by the two line tracking modules so that the controller can determine that one line is composed of two line units.

If the number of line-tracking modules is not increased in proportion to the number of line units constituting one line and the number of the maximum line units of one line is odd, To determine whether there are several line units.

If the number of the maximum line units of one line is an even number, the two line tracking modules may be shifted in the center direction to determine how many line units a line has.

That is, it is possible to more efficiently perform line tracking by identifying the characteristics of the number of line units of one line (odd-numbered or even-numbered) and disposing the line tracking module in accordance with the characteristics.

In the above-described three embodiments, the logistics moving apparatus 1 of the present invention can be provided with a line display section 16, And displays the number of lines 100.

Through the presence of the line display unit 16, the user can know whether or not the logistics moving apparatus 1 according to the embodiment of the present invention correctly recognizes the line 100 and moves.

Although the line display section 16 is shown in FIG. 2 as being capable of displaying four lines 100, it is also possible to display a larger number of lines. That is, there is no limit to the number.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood. The embodiments described above are therefore to be considered in all respects as illustrative and not restrictive.

1: Logistics moving device 10: Loading part
11: first handle portion 12: second handle portion
13: Emergency switch 14: Directional stick
15: Automatic manual changeover switch 16: Line display
17: Power switch 18: Battery remaining amount indicator
19: speed control unit 20: line tracking module
30: main body 50:
60: first wheel portion 70: second wheel portion
100: line

Claims (7)

A plurality of lines installed on a floor in a logistics workshop for generating a movement path of the logistics;
And a control unit for controlling the driving unit to move to a target point along a path of a line recognized by the line tracking module and a line tracking module for recognizing the line, a loading unit for loading the goods, a moving unit, Lt; / RTI >
Wherein the control unit controls the driving unit to move the distribution moving apparatus to the target point in accordance with a predetermined determination criterion when the line tracking module recognizes a zone where the plurality of lines overlap each other Wherein the system comprises: The method according to claim 1,
Wherein the control unit determines the direction of the line before the line tracking module recognizes the overlapping area to be the direction of the target point and controls the driving unit to move the goods moving device along the path of the line formed in the determined direction Wherein the system comprises: The method according to claim 1,
The plurality of lines having different widths,
Wherein the control unit compares the line width before the overlapping area with a line width after the overlapping area and controls the drive unit to move the production moving apparatus to a line having a line width coinciding with the line width. The method according to claim 1,
Each of the plurality of lines including one or more line units,
The line tracking module includes a plurality of line tracking modules for sensing the number of line units included in each of the plurality of lines,
The control unit compares the number of line units included in the line preceding the overlapping area with the number of line units included in the subsequent line and controls the drive unit to move the line moving device to a line having the same number Characterized by comprising: The method according to claim 1,
The above-described logistics moving device further includes a loading section on which the above-mentioned logistics is loaded, a main body, and a boarding section on which the user is boarding,
Wherein the line tracking module is an infrared tracking module. 6. The method of claim 5,
On the upper portion of the main body,
And a line display unit for displaying a plurality of lines recognized by the line tracking module. The method according to claim 6,
On the upper portion of the main body,
A direction stick for determining a moving direction of the product moving device, a speed adjusting unit for determining a moving speed, and an automatic manual changeover switch,
Wherein when the manual mode is selected through the automatic manual changeover switch, the controller controls the movement device to move according to a user input inputted through the direction stick and the speed adjuster.

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