KR20180102825A - An AGV Based Automatic Feeding System Control Method for Cattle Shed - Google Patents

Abstract

The present invention provides a safe and convenient AGV for a cattle shed capable of safely and cleanly managing a cattle shed. To achieve the purpose, the AGV for a cattle shed includes: an RFID reader reading an RFID; a vacuum cleaner (140) including a rotary brush installed at the front end of the AGV to perform cleaning when cleaning is necessary; a feeler sensor for collision prevention, installed to prevent a collision between a feed supplier and livestock; an object sensor for preventing a collision with livestock, people, and objects; a collision sensor for sensing a collision between a lateral part and the AGV; and a route sensor installed to sense a guide wire installed on the floor.

Description

[0001] The present invention relates to a control method for an automatic driving vehicle,

The present invention relates to a guide type automatic traveling vehicle that autonomously travels by a feeder that feeds a feeder to a small farm and a guide. In the present invention, a feeder feeding function that can safely be used in a farmhouse, And a control method of the guided autonomous traveling vehicle.

BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to an unmanned transportation vehicle, and more particularly, to an unmanned transportation system and an unmanned transportation vehicle using RFID, which can accurately and efficiently control traveling when traveling along a predetermined guide line will be.

 These transportation systems or transportation vehicles generally use automatic transportation vehicles called AGV (Automatic Guided Vehicle) for automation of transportation in automation systems such as logistics systems and automatic production systems. The control system for such an automatic transportation vehicle may be classified into a guide line tracking method, a magnetic tracking method, and a light tracking method according to a guide method. In the case of the self-tracking method and the laser light tracking method, guide members for guiding the ground must be installed, which is not suitable for transporting heavy parts in an outdoor environment. In order to carry out the transportation mainly in a wide area outside the room, a guide line tracking method is recently used in which a guide wire is buried in the ground. Such a lead wire buries a lead wire in the ground of the hearth and generates a magnetic field by supplying a low frequency oscillation signal, and the automatic transportation vehicle senses and tracks the magnetic field. A system for controlling such an automatic transportation vehicle includes an automatic transportation vehicle control computer for controlling the traveling of the entire automatic transportation vehicle in the center, a wireless communication device for transmitting and receiving an automatic transportation vehicle, a guide path, And a work station. The unmanned vehicle moves along the guide line and stops at the work station to load parts, materials, products, and the like by a route instructed by the automatic transportation vehicle control computer through the wireless communication machine. The guide line may vary according to the environment in which the automatic transportation system operates, and may be mainly divided into a straight section, a curved section, a branch section and a junction section. A predetermined mark is displayed on the route so that the position of the unmanned vehicle can be grasped so that the position of the automatic transportation vehicle can be grasped in the automatic transportation system. In such an automatic transportation system, the automatic transportation vehicle travels along the guide line by a command instructed by the control computer, and it is necessary to control the traveling direction so that the automatic transportation vehicle does not depart from the guide line. 1 is a block diagram showing a control process of a general automatic transportation vehicle. The automatic transportation vehicle includes a left motor 11 for running, a right motor 12, a left pickup sensor 14 and a right pickup sensor 14 for sensing the distance that the unmanned vehicle 1 deviates from the lead wire 2, 15 and a control device 13 are generally included. The control device 13 receives signals from the left pickup sensor 14 and the right pickup sensor 15 along the distance deviated from the guiding line by the unmanned vehicle and drives the left and right motors 11 and 12, And controls the transportation vehicle 1 to always follow the guide wire 2. Since it is difficult to control the transportation of goods quickly and accurately in a complicated route by such a control, an unmanned transportation system and an unmanned transportation vehicle with RFID are proposed. An unmanned transportation system and an unmanned transportation vehicle using RFID that can monitor and control the precise movement at a bifurcation point of an operation route are an unmanned transportation system that controls one or more unmanned transportation vehicles traveling along a guidance line, A plurality of RFID tags disposed in the transport path to embed information related to the induction line, position, or acceleration / deceleration leaked by the magnetic sensor and to emit an RF signal, a pickup And a RFID receiving unit for receiving RF signals of the RFID tag and acquiring driving information related to the driving of the position or acceleration / deceleration, and a control unit for wirelessly receiving the driving information acquired from the unmanned transportation vehicle, An unmanned transportation system using RFID including a central control unit for controlling the operation of the unmanned transportation vehicle to provide. Accordingly, it is possible to accurately confirm the operation and the state, and the integrated control can be efficiently performed. Preferably, the RFID tag is disposed to be offset to one side with respect to the center of the guide wire, and the RFID receiver is preferably disposed to be offset to one side with respect to the center of the unmanned transportation vehicle. Therefore, the influence due to interference of radio waves is minimized. The pick-up sensor unit includes a first sensor and a second sensor disposed on both sides for comparing the intensity of the magnetic signal with the intensity set in accordance with the distance from the guide line, And a third sensor for detecting whether or not to follow an accurate position. Therefore, the follow-up to the lead wire is precisely performed. The RFID tag includes a plurality of route information RFID tags arranged in a plurality of routes on a transportation route, and the RFID receiver detects speeds through location information and time relationship of each route information RFID tag in the course of operation do. Wherein the RFID tag includes a branch point RFID tag disposed immediately before a branch point and a plurality of branch RFID tags disposed in each branch path after the branch point, Deceleration information, and the branch RFID tag can provide confirmation information as to whether it has entered the selected branch path. Therefore, accurate identification and correspondence of branching and merging is possible. The branch RFID tag preferably limits the reception distance of the RF signal compared to the path information RFID tag. Thus, the possibility of operating errors is minimized.

  However, this conventional technique is a technique that can be used in clean and formal indoor or outdoor places, and is not a place where road surface conditions such as a house can not be constant and dust and animals may cause unexpected behavior. There are many problems in using existing technology for housing.

Published Patent Publication No. 1999-0048655 Published Patent Application No. 10-2005-0022635 Patent Registration No. 10-1524414

The present invention aims to provide a safe and convenient control method of an AGV by adding the function of supplying feed in an animal house to the advantages of the existing AGV.

In order to solve the above problems, there is a need to provide an RFID reader having an RFID, which has an amount of feed, travel information and route information to be provided for each livestock housing in an existing AGV, A vacuum suction type vacuum cleaner 140 having a rotary brush provided at a front end of the AGV capable of cleaning at a required point of time, a feeder provided on the side of the AGV for feeding the feed while moving, An object detection sensor provided in front of the AGV for preventing collision with a livestock, a person or an object in front of the movement path, a rotation other than forward, or a collision with the AGV somewhere A collision sensor for detecting the guide wire installed on the floor, and a path sensor for detecting the guide wire installed on the floor. In the automatic traveling vehicle, the AGV includes a mast controller. The mast controller recognizes the robot through a power supply circuit, an indicator, and an infrared communication unit, and communicates charging status information and attitude control data communication with a robot charging station. Wherein the control unit controls the current, the charge scheduling using the built-in fuzzy controller, and the optical reference generator for controlling the attitude for charging. to provide.

In addition, the present invention is characterized in that, when the small-axis-use automatic feeder mounting guide type automatic driving vehicle recognizes the RFID, the operation for setting the operation of the small- There is provided a control method of a self-propelled, self-propelled, self-propelled, self-propelled, self-propelled vehicle, further comprising a controller or a server controller for wirelessly controlling the contents of the database.

The present invention also includes a feed container for storing feed in the automatic feeding guide-equipped automatic driving vehicle with a small shaft, and a screw conveyor for feeding the feed in a quantitative manner between the feed container and the conveyor belt for feeding the feed , A load cell is installed at the lower end of the conveyor belt at a point where the end of the screw conveyor meets the conveyor belt, and the amount of feed to be fed is measured in real time. .

Further, the present invention is also characterized in that a vibration module installed on the side of the longitudinal end of the conveyor belt for vibrating a feed end of the conveyor belt to smooth feed of the feed, and an inclined portion between the conveyor belt and the belt guide A control method of a self-propelled, self-propelled, self-propelled, self-propelled, self-propelled vehicle having a feed feed guide which is installed to keep the feeding amount of feed constant.

The present invention provides a control method of an unmanned vehicle that can safely and environmentally manage the environment of the housing and feed the feed automatically by utilizing the advantages of the conventional guided automatic traveling vehicle, . It is an invention that has the effect of solving the labor shortage of aging rural areas.

FIG. 1 is a diagram illustrating a conventional AGV control method
2 is a side view of the present invention and a main configuration of the present invention
Figure 3 shows a conveyor belt and feed guide
Fig. 4 is a cross-
FIG. 5 is a block diagram of a mast controller

 The present invention having such characteristics can be more clearly described by the preferred embodiments thereof.

 DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Before describing in detail several embodiments of the present invention with reference to the accompanying drawings, it is to be understood that the present invention is not limited to the details of construction and the arrangement of components shown in the following detailed description or illustrated in the drawings And detailed description of known functions and configurations incorporated herein will be omitted when it may be considered unnecessary to obscure the subject matter of the present invention.

      It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. can do. In addition, since the embodiments described in the present specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention, It is to be understood that equivalents and modifications are possible.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described more fully with reference to the accompanying drawings, in which embodiments of the invention are shown.

An RFID reader 120 installed in an existing AGV 100 at a necessary point on the path and having an amount of feed to be provided for each livestock housing and driving information and route information, A vacuum suction type vacuum cleaner 140 having a rotary brush provided at a front end of the AGV 100 capable of cleaning at a time when cleaning is required, (150) for preventing collision between the feeder and the livestock, an anti-collision whisker sensor (150) provided on the side of the AGV (100) for detecting an object to prevent collision with livestock, A sensor 160 for sensing a collision between AGV 100 and AGV 100 and a path sensor for sensing a guide wire 110 installed on the floor, Use automatic feeder In the guided automatic traveling vehicle, the AGV 100 includes a mast controller. The mast controller recognizes the robot through a power supply circuit, an indicator, and an infrared communication unit. The AGV 100 communicates charge state information and attitude control data communication with a robot charging station. Wherein the control unit controls the charging voltage and current of the battery, performs charge scheduling using the built-in fuzzy controller, and controls the optical reference generator for controlling the attitude for charging. A method of controlling a vehicle is provided. Particularly, the above-mentioned mast controller has a great difference from the existing invention in two points. First, the charge scheduling fuzzy controller determines the charge rate of the battery based on the feed time for feeding the livestock, current time information, and the battery charge information, do. In particular, when the time until the next class time is not enough, a warning is generated and the charger is controlled so as to perform quick charging. The amount of consumed battery is continuously measured and accumulated, . In particular, considering the current consumption when feeding only food and cleaning and feeding simultaneously, it is possible to present possible actions before starting work so that the battery is not discharged during the operation.

 The second characteristic is that it automatically controls the posture for returning to the charging position for charging the robot. Therefore, the operator does not have to worry about posture when returning the robot for charging. The attitude control is used to recognize the current attitude of the AGV 100. The mast controller rotates or moves the AGV 100 so that the reference generator for attitude control is recognized by using the infrared communication unit provided outside the AGV 100 and the recognized reference generator is located at a position for charging.

In addition, in the present invention, when the small-axis-use automatic feeder mounting guide type automatic driving vehicle recognizes the RFID 120, after recognizing the RFID 120, the small- There is provided a control method of a self-propelled, self-propelled, self-propelled, self-propelled, self-propelled vehicle comprising a controller or a server controller for wirelessly controlling the contents of an operation database for setting an operation.

In addition, the present invention also relates to a feed conveyor for storing feed in the above-described automatic feeding guide-type automatic driving vehicle for small axis use, a screw conveyor for feeding the feed quantitatively between the feed container and the conveyor belt 400 for feeding the feed A load cell is installed at the lower end of the conveyor belt 400 at a point where the end of the screw conveyor 300 meets the conveyor belt 400 and the amount of feed to be fed is measured in real time Providing a control method of a self-propelled, self-propelled, self-propelled vehicle with a small shaft.

In addition, the present invention is also applicable to a vibration module installed on the longitudinal end side of the conveyor belt 400 for vibrating the end portion of the conveyor belt 400 to smooth feed of the feed and a conveyor belt And a feed guide (410) sloping between the guide rail (400) and the belt guide so that the feeding amount of the feed is constant.

100: AGV
110: Guide wire
120: RFID
130: RFID reader
140: Vacuum suction type vacuum cleaner with rotary type brush
150: Whisper sensor
160: Object detection sensor
170: collision sensor
200: feed tank
300: Screw conveyor
400: Conveyor belt
410: Feeding Guide

Claims (4)

An RFID reader installed at an necessary position on the path of an RFID having an amount of feed, traveling information and route information to be provided for each housing of a livestock in a guided automatic traveling vehicle (AGV) and reading the RFID, A vacuum suction type vacuum cleaner 140 having a rotatable brush provided at a front end of the AGV that can clean the feeder, a feeder provided on a side of the AGV that feeds the feed while moving, A crash sensor for detecting a collision between the AGV and a side of the AGV, an object detection sensor provided in front of the AGV for preventing collision with a livestock, a person or an object in front of the AGV, , And a path sensor for detecting the guide wire installed on the floor. Wherein the AGV includes a mast controller, the mast controller recognizes the robot through a power supply circuit, an indicator, and an infrared communication unit, and transmits charging status information and attitude control data communication to a robot charging station, Wherein the control unit controls the charge reference generator for controlling the posture of the charge, and performs charge scheduling using the built-in fuzzy controller. The method according to claim 1,
When the RFID tag is recognized by the self-feeding guide-type automatic driving vehicle described above, the contents of the operation database for setting the operation of the automatic feeding guide driving type self-driving vehicle after recognizing the RFID are transmitted to the wireless And a controller for controlling the automatic guiding type automatic guided vehicle according to the present invention. 3. The method of claim 2,
And a screw conveyor for feeding the feed between the feed container and the conveyor belt for feeding the feed, the screw conveyor for feeding the feed to the end of the screw conveyor Wherein a load cell is installed at a lower end of a conveyor belt at a point where the conveyor belt meets the conveyor belt, and the amount of fed feed is measured in real time. The method of claim 3,
A vibrating module installed on the side of the conveyor belt at the longitudinal side of the conveyor belt for vibrating the conveyor belt to vibrate the feeder to smooth feed of the feed, and a feeder for feeding the feeder, which is provided between the conveyor belt and the belt guide, Wherein the feed guide is provided with a feed guide that allows the feed guide to be constant.

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