KR20200057321A - Mobile robot platform system for process and production management - Google Patents

Abstract

The present invention relates to a mobile robot platform system for management of processes and production, capable of improving the traveling efficiency of an unmanned transfer robot by allowing the robot to rapidly and accurately avoid an obstacle. According to the present invention, the mobile robot platform system for management of processes and production comprises: a body frame; a plurality of obstacle detection units; a collision detection unit; a code mark recognition unit; an upper housing having robot operation equipment; a coupling unit formed on an upper side of the upper housing; a plurality of code marks; a system control unit; a production management equipment control unit; a driving control unit; and mecanum wheels provided on both sides of the body frame.

Description

Mobile robot platform system for process and production management

The present invention relates to a mobile robot platform system for process and production management. In more detail, a code mark is attached to the floor on the driving route of an unmanned transport vehicle, and the recognized code mark is recognized to recognize the current position, driving speed, and driving route of the unmanned transport robot in motion, making the product flexible and quick. Can be transported, and the vision sensor provided in the manipulator can correct the position by recognizing the QR code attached to the production facility, and in order to avoid obstacles sequentially, the obstacle detection unit in the diagonal direction to the body frame of the unmanned transport vehicle Equipped to detect obstacles located in all directions of the unmanned transport vehicle, and when an unmanned transport vehicle collides with an obstacle not detected by the obstacle detection unit, the collision detection unit detects a collision with the obstacle and avoids the collided obstacle It is related to a mobile robot platform system that is capable of normal driving and processes and production management capable of sequential obstacle avoidance that is possible for front-to-back driving and horizontal driving to the left and right by a mecanum wheel.

Recently, various automatic guided vehicles (AGVs), that is, unmanned transport vehicles, have been applied to industrial sites according to industrial automation and unmanned trends.

Among them, the guide line tracking AGV, which repeatedly travels along a guide line, can be used for transporting parts loaded on a truck to a predetermined position in a production process, and thus the demand is increasing.

On the other hand, the guideline tracking AGV used in the conventional field mainly uses a one-dimensional scanning method using a magnetic sensor. In the magnetic sensor-based guide line tracking method, it is difficult to analyze the guide line of a complex structure such as a branch or confluence point of the guide line by using a narrow one-dimensional search and detection area, and is also susceptible to damage to the magnetic guide line. There are disadvantages.

In order to solve these shortcomings, magnetic guide lines are buried on the floor of the workplace to minimize damage, while separate markers (magnetic markers, RFID tags, etc.) are installed on the floor of the workshop, and AGV The method of overcoming the difficulties of analyzing the complex structure induction line by using a separate sensor for recognizing a buried marker is used.

However, the method of overcoming through the embedding of such a separate mark has become a great burden to secure the production flexibility required in the industrial field of the modern multi-product small-scale production method. In other words, the production line must be changed and redesigned from time to time depending on the items of production. The method of embedding magnetic guide lines and separate markings is an economical and time-consuming method for these changes, and the floor of the workshop site is made of steel. In the case of magnetic field interference, there is a limitation in that the use of a magnetic sensor-based induction method is inherently impossible due to magnetic field interference.

 In addition, although there is a method of painting or attaching paint or color tape to the floor of the driving route of an unmanned transport vehicle and recognizing the camera, this method also has a problem of being vulnerable to contamination of the workplace and damage to painter or color tape.

On the other hand, manipulators are medical robots such as endoscopes, single-port surgical robots, military robots, robots that perform various tasks in space, dangerous goods handling robots, and piping, from rescue robots that search for survivors in disaster areas due to the characteristics of motion and shape. It is used in a variety of robot fields, such as various industrial robots, such as cleaning robots.

Manipulators, especially articulated arm robots, are used for various work processes, for example in assembly or manufacturing in industrial environments. At this time, at least one manipulator is correspondingly controlled by the manipulator controller, and the work process or process flow is controlled by the process controller.

A known flow of work processes is for example a manipulator approaching a working point that is pre-determined in path planning. When the working point is reached, for example, the program for the working process is started via a process controller and is correspondingly executed by the manipulator or by an end effector or tool located in the manipulator.

The transfer robot equipped with the conventional manipulator has a problem in that the precision of the position is lowered due to a cumulative error caused by wheel rush, frame tolerance, wheel wear, and frictional force changes due to dust.

Therefore, there is a need for a new means for periodically correcting the position of the robot in order to transfer the product more quickly and accurately.

Prior Art Document: KR Publication No. 10-2015-0041346 (published on April 16, 2015)

The present invention has been devised to solve the above problems, attaching a code mark to the floor on the traveling path of the unmanned transfer robot and recognizing the attached code mark to recognize the current position, driving speed, and driving path of the unmanned transfer robot in operation. In order to avoid the obstacles in order, the obstacle detection unit is provided diagonally to the body frame of the unmanned transfer robot to avoid obstacles located in all directions of the unmanned transport vehicle. When an unmanned transport vehicle collides with an obstacle that is not detected by the obstacle detection unit, the collision detection unit detects a collision with the obstacle, and then avoids the collided obstacle to perform normal driving. And the object of the present invention is to provide a mobile robot platform system for process and production management capable of sequential obstacle avoidance capable of horizontally moving left and right and periodically correcting the correct position of the manipulator through a QR code attached to the production facility. .

The mobile robot platform system for process and production management according to the present invention devised to achieve the above object includes a body frame modularized for each component mounting position to facilitate detachment of components located therein; A plurality of obstacle detection units provided on the outside of the body frame to detect obstacles located in the progress path; A collision detection unit which is provided on the outer surface of the body frame and transmits a collision signal when it collides with an obstacle outside the detection range of the obstacle detection unit; A code mark recognition unit provided to recognize the current position in the progress direction and the progress path by recognizing the code mark attached to the floor on the progress path; Upper housing coupled to the upper side of the body frame and equipped with a robot operation equipment including a driving control unit and a charging battery therein; It is possible to combine the production management equipment including a manipulator and a camera, and a coupling portion formed on the upper side of the upper housing; A plurality of code marks attached on the progress path of the unmanned transfer robot; A system control unit that receives signals from sensors including an obstacle detection unit, a collision detection unit, and a code mark recognition unit, performs calculations, and transmits operation signals to a production management equipment control unit and a drive control unit; A production management equipment control unit that receives a signal transmitted from the system control unit and controls operation of production management equipment including a manipulator and a camera coupled to the coupling unit; A drive control unit that receives a signal transmitted from the system control unit and controls the operation of the drive device including the McCannum wheel; And a mecanum wheel which is provided to be connected to independent drive motors before and after both sides of the body frame, and that can be independently driven by drive signals of the drive control unit.

In addition, the code mark is formed of a cross type and a diamond type, the cross type has a central QR code in the center, and four QR codes are located on the outer side of the central QR code to provide five QR codes. The central QR code is located in the central portion, an empty space of a cross shape is located on all sides of the central QR code, and the QR code is located on all sides of the empty space to further include nine QR codes.

In addition, a remote control program including a QR code data, a wireless remote controller connection method, and a status display unit for displaying equipment connection status confirmation, a QR code and an image display unit for displaying a camera image provided in the manipulator; And a wireless remote control including a direction movement control lever, a rotation movement control lever, an upward movement control button, a downward movement control button, and a safety sensor deactivation button.

According to the present invention, it is possible to quickly and accurately avoid obstacles, thereby improving the driving efficiency of an unmanned transport robot that transports a production product, and has an effect of easy maintenance and repair of an unmanned transport robot, and periodically manipulators and unmanned transport vehicles There is an effect that can improve the position accuracy by correcting the position of.

1 is a side view showing an unmanned transfer robot in which a manipulator is coupled to a coupling portion in a mobile robot platform system for process and production management according to a preferred embodiment of the present invention;
Figure 2 is a front view showing an unmanned transfer robot with a manipulator coupled to the engaging portion,
3 is an internal configuration of an unmanned transport vehicle,
4 is a view showing a posture control state of an unmanned transport vehicle using a code mark,
5 is a diagram showing a cross-type code mark,
6 is a diagram showing a diamond type code mark,
7 is a block diagram showing sensor signal flow;
8 is a view showing a remote control program.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, when adding reference numerals to the components of each drawing, it should be noted that the same components have the same reference numerals as possible even though they are displayed on different drawings. In addition, in describing the present invention, when it is determined that detailed descriptions of related well-known structures or functions may obscure the subject matter of the present invention, detailed descriptions thereof will be omitted. In addition, although preferred embodiments of the present invention will be described below, the technical spirit of the present invention is not limited to or limited thereto, and can be variously implemented by a person skilled in the art.

1 is a side view showing an unmanned transfer robot having a manipulator coupled to a coupling portion in a mobile robot platform system for process and production management according to a preferred embodiment of the present invention, and FIG. 2 is an unmanned transfer robot having a manipulator coupled to a coupling portion. Front view, FIG. 3 is an internal configuration diagram of an unmanned transport vehicle, FIG. 4 is a view showing a posture control state of an unmanned transport vehicle using a code mark, FIG. 5 is a cross-type code mark, and FIG. 6 is a diamond FIG. 7 is a block diagram showing a sensor signal flow, and FIG. 8 is a diagram showing a remote control program.

Mobile robot platform system for process and production management according to a preferred embodiment of the present invention, referring to Figures 1 to 8, body frame 10, obstacle detection unit 20, collision detection unit 30, code Mark recognition unit 40, coupling unit 130, driving control unit 72, mecanum wheel 80, driving state light emitting unit 90, touch panel 100, quick switch 110, driving battery 120 , Remote control program 200, and a wireless remote control 300.

Referring to FIGS. 4 to 6, the intelligent mobile production management system using the unmanned transfer robot according to the present invention specifies a cross-type code mark (2) and a diamond-type code mark (3) on the floor on the driving path of the unmanned transfer robot. By attaching at intervals and recognizing the code mark attached to the QR code recognition unit 40 provided in the unmanned transfer robot, it is possible to transport flexibly and quickly by recognizing the current position, driving speed, and driving route of the unmanned transport vehicle in operation. In addition, through the vision sensor of the manipulator, the QR code attached to the production facility is recognized, and the correct position of the manipulator is automatically corrected to transfer to the correct position.

In addition, an obstacle detecting unit 20 is provided on the outer surface of the body frame 10 to detect obstacles located in all directions of the unmanned transfer robot's progress path when the autonomous vehicle is autonomous, and it is possible to run by avoiding the obstacle and detect the obstacle. When an obstacle undetected by (20) collides with an unmanned transfer robot, the collision detection unit 30 detects a collision with the obstacle, and then avoids the collided obstacle to perform normal driving.

First, the intelligent mobile production management system using an unmanned transfer robot according to the present invention has a code mark composed of a cross type (2) and a diamond type (3) at a predetermined interval on the floor on a driving path in which the unmanned transfer robot travels at a work site. Attach and attach the QR code (7) to the production facility to arrive at the input location and perform the operation.

Thereafter, the code mark recognition unit 40 provided in the unmanned transport vehicle 400 recognizes the form of the code mark attached to the floor of the driving route and displays driving information including the current position, driving speed, and driving route of the robot in operation. When the acquired driving information is transmitted to the driving control unit, the driving control unit 72 determines the traveling direction and driving speed of the unmanned transport vehicle to drive the unmanned transport robot.

The unmanned transport vehicle 400 is provided at the lower end of the unmanned transport robot and enables the driving of the unmanned transport robot using a magnum wheel.

In addition, the code mark recognition unit 40 of the unmanned transport vehicle 400 recognizes the center position of the code mark and the unmanned transport vehicle 400, and the distance between the code mark and the center position of the unmanned transport vehicle, the inclination of the code mark When the degree is read and transmitted to the system control unit 70, the system control unit performs an operation to place the center position of the unmanned transport vehicle in the center of the code mark, and then transmits an operation signal to the drive control unit 72 to drive the control unit ( 72) by driving the unmanned transport vehicle 400, it is possible to control the posture of the unmanned transport vehicle.

The unmanned transfer robot generates a cumulative error in driving due to various variables including wheel rush, frame tolerance, wheel wear, and frictional force changes caused by dust. The recognition unit may correct the position of the unmanned transfer robot through the code mark and the code mark recognition unit 40 of the unmanned transfer robot.

In addition, the accurate location of the production management equipment including the manipulator 150 is essential for effective and precise operation to perform the input operation after the unmanned transfer robot arrives at the predetermined location.

When the manipulator is coupled to the coupling unit 130, the vision sensor 170 provided at the end of the manipulator 150 after arrival at the input position recognizes the QR code 7 attached to the production facility to accurately recognize the manipulator. After correcting the position, the operation is performed.

After arriving at the input position for the position accuracy of the manipulator, the vision sensor 170 provided at the end of the manipulator recognizes the QR code 7 which is attached to the facility, and the distance between the QR code 7 and the vision sensor 170 , When the inclination degree of the QR code 7 is read and transmitted to the system control unit 70, the system control unit 70 transmits an operation signal to the production management equipment control unit 71.

The production management equipment control unit 71 receives the signal transmitted from the system control unit 70, performs calculations for correct position correction of the production management equipment 140 including the manipulator 150, and then performs the production management equipment 140 including the manipulator. ) To transmit the control command for attitude control to the production management equipment including the manipulator to control the operation of the production management equipment.

In addition, referring to FIG. 3, in order to avoid obstacles sequentially, an obstacle detecting unit 20 is provided in the diagonal direction on the body frame 10 of the unmanned transfer robot to detect obstacles located in all directions of the progress path of the unmanned transfer robot. And dodge and drive.

In addition, referring to FIG. 3, when an obstacle undetected by the obstacle detecting unit 20 collides with an unmanned transfer robot, the collision detecting unit 30 detects a collision with the obstacle, and then avoids the colliding obstacle to normal You can drive.

In addition, referring to Figure 3, both sides of the body frame 10 is provided with a mecanum wheel 80 that is not limited in the radius of rotation is provided, it has a feature that can be run back and forth and horizontally left and right.

Hereinafter, components constituting an unmanned transfer robot capable of sequential obstacle avoidance according to a preferred embodiment of the present invention will be described in detail.

Referring to FIG. 3, the body frame 10 is configured to be modularized for each location in which the components described below are mounted to facilitate detachment and maintenance of components located therein.

The mecanum wheel 80 provided in the body frame 10 is a wheel capable of driving forward and backward and left and right horizontally, and does not require a separate steering device due to its characteristics, and is hardly limited by the rotational drive radius of the wheel.

Therefore, the body frame 10 of the present invention has an advantage in that maintenance and maintenance of the unmanned transfer robot is easy since the weight of the driving wheel is reduced and various electric components can be modularly mounted and detachably mounted.

Referring to FIG. 3, the obstacle detecting unit 20 is a sensor for recognizing an obstacle that is separated from a predetermined distance, including an infrared sensor and a laser sensor, and a body frame to detect an obstacle located in a progress path of an unmanned transfer robot. A plurality of pairs may be provided in a diagonal portion of the diagonal direction (10), or a plurality of obstacle detecting units 20 may be provided on the outer surface of the body frame.

When the obstacle detecting unit 20 is installed at the corner of the body frame, the primary obstacle reducing unit of one of the pair of primary obstacle detecting units 20 provided at the corner portions of the body frame 10 is left and right in the diagonal direction. Since it is possible to provide a wide field of view of about 272 degrees or more, the plurality of primary obstacle detection units 20 provided in the diagonal direction of the body frame 10 are located in a 360-degree full range with respect to the traveling direction of the unmanned transfer robot To detect obstacles.

Referring to FIG. 3, the collision detection unit 30 is provided along the circumference of the body frame 10 on the outside of the slope of the body frame 10. The collision detection unit 30 transmits the collision signal to the system control unit 70 described below when an obstacle outside the sensing range of the obstacle detection unit 20 collides with an obstacle, and the system control unit 70 drives the control unit. Operation signal is transmitted to (72).

The drive control unit 72 receives the signal transmitted from the system control unit 70 and transmits a signal for avoiding the collided obstacle to the mecanum wheel 80 to avoid the collided obstacle and the unmanned transfer robot takes the original path. So that it can be driven.

Here, the components constituting the collision detection unit 30 and its operation will be described in detail as follows.

The collision detection unit 30 includes a bumper 32, a linear bush 34, a linear shaft 36, and a limit switch.

If, when an obstacle located on the progress path of the unmanned transfer robot collides with any one of the bumpers 32 surrounding the outer periphery of the body frame 10, the bumpers push the linear shaft 36 located inside.

At this time, the linear shaft is pushed to the rear to operate the limit switch, and the limit switch transmits a collision signal to the drive control unit 72, and the drive control unit 72 transmits a avoidance driving signal to avoid a collision obstacle. 80).

The upper housing is seated on the upper side of the body frame 10 and is detachable from the body frame.

Production management equipment including a multi-joint manipulator and a camera may be coupled to the coupling portion 130 formed on the upper side of the upper housing.

Referring to Figure 1, the multi-joint manipulator 150 coupled to the coupling portion 130 can be coupled to the coupling portion 130 on the upper side of the upper housing, and includes a 3-axis external force detection sensor, a gripping portion, and a vision sensor. do.

The vision sensor 170 is provided at the end of the manipulator and can recognize the QR code 7 attached to the production facility to correct the exact position of the manipulator 150.

After arriving at the input position for the position accuracy of the manipulator 150, the QR code 7 attached to the facility is recognized by the vision sensor 170 provided at the end of the manipulator, and the distance between the QR code and the vision sensor, QR When the degree of inclination of the code is read and transmitted to the system control unit 70, the system control unit 70 performs an operation for correct position correction, and then transmits an operation signal to the production management equipment control unit 71 to transmit it to the production management equipment control unit. Controls the manipulator's posture.

A 3-axis external force detection sensor is provided in each joint, and when an external force is detected in the X-axis, Y-axis, and Z-axis directions while the manipulator 150 is in motion, motion in the direction in which the external force is sensed is stopped and the corresponding motion The input operation in the following order is performed.

The manipulator 150 includes three or more joints, and the X-axis linear movement, the Y-axis linear movement, the Z-axis linear movement, the X-axis rotation movement, and the Y-axis rotation movement are possible by the joint.

On the other hand, the manipulator 150 is equipped with a teaching function that allows a person to directly input a motion by moving the manipulator.

After unlocking each joint of the manipulator, in the teaching mode, when a person directly moves the manipulator and inputs an action, the manipulator movement is stored in the drive control unit.

When the manipulator is operated after the teaching mode is released, the same operation as that performed by the person moving the manipulator directly in the teaching mode is automatically performed.

The gripping part 160 is located at the end of the manipulator, and a tool capable of holding, including adsorption, grasping, and holding is combined to grip the produced product and transfer it to the input position.

In addition, a camera may be coupled to the coupling unit 130, and the camera coupled to the unmanned transportation robot is rotatable with reference to the data of the location information transmitting and receiving unit including GPS, and can acquire images from all directions on the driving path of the unmanned transportation robot. .

The unmanned transfer robot of the present invention is a point-to-point movement method in which a code mark is attached to the bottom of a path where the unmanned transfer robot proceeds and recognizes it to determine a progress path. It recognizes the code mark and takes the method of recognizing the current position, driving speed, and direction of the unmanned transfer robot.

The code mark method according to the present invention is easy to change flexibly to a code in a form suitable for a factory environment, and it is possible to respond immediately when a code mark is damaged.

Referring to FIG. 5, the QR code recognition unit 40 is a vision sensor including a scan camera, and recognizes a code mark attached to the floor on the progress path of the unmanned transport vehicle to transmit the recognized information to the drive control unit 72 Then, the driving control unit 72 recognizes the current position, driving speed, and traveling path of the unmanned transfer robot in the traveling direction, and determines the traveling direction and traveling speed.

The method of the present invention for recognizing a code mark is recognized by an RFID reader or camera attached to an unmanned transport vehicle, a magnetic tape, a color tape attached to the bottom of the progress path, or an RFID tag in which a conventional unmanned transport vehicle is located on a progress path. It recognizes the progress route and the current location, and has an excellent economic efficiency and driving efficiency compared to the driving method, and issues an effect of easy maintenance and repair.

In the present invention, the code mark 2 attached to the floor on the driving path through which the unmanned transfer robot travels may be provided as a cross type 2 and a diamond type 3 as shown in FIG. 5.

Specifically, referring to FIGS. 5 and 6, the cross type 2 has a central QR code in the center and four QR codes are located on the outer side of the central QR code 6 to provide five QR codes. , Diamond type (3) is a central QR code (5) is located in the center, a cross-shaped blank space (4) is located on the outer side of the central QR code, and QR codes are located on all sides of the blank space (4) to make 9 Have a QR code.

The QR code includes information for determining the driving speed of the unmanned transport robot, driving information including the driving direction, and position information including the current position of the unmanned transport robot.

7, the code mark recognition unit 40 is a vision sensor including a scan camera, the code mark 2 attached to the floor on the progress path of the unmanned transport robot traveling and the center position 8 of the unmanned transport vehicle Acquisition of the location information on the together and transmits the recognized information to the driving control unit 72.

Referring to FIG. 7, the system control unit 70 includes an obstacle detection unit 20, a collision detection unit 30, a code mark recognition unit 40, a location information transmission / reception unit 45, a manipulator vision sensor 170, and a wireless system. Receiving the signal transmitted from the sensor provided in the unmanned transport vehicle, including the remote control 300, performs calculations in a central processing unit such as an MCU, recognizes the current posture of the unmanned transport robot in the progress direction, proceeds in direction and speed , And transmits control commands for attitude control to the production management control unit 71 and the driving control unit 72 to control the entire driving device and production management equipment.

In addition, the system control unit 70 is provided with a wireless communication unit to remotely control the unmanned transport vehicle by the remote control program 200 described below.

Specifically, referring to FIG. 4, the code mark recognition unit 40 acquires the relative position information of the code mark 2 and the center position of the unmanned transport vehicle together and transmits it to the driving control unit.

Referring to FIG. 2, the mecanum wheel 80 is provided to be connected to independent drive motors before and after both sides of the body frame 10, and has a turning radius at a vertical or rotational center by a drive signal from the drive control unit 72. Independent driving is possible so that the rotational speed and the rotational direction can be different to perform horizontal driving in the left and right directions.

On the other hand, most of the operation lines operated by the unmanned transport robot have a considerable difficulty in confirming the operation state of the unmanned transport vehicle by sound due to various noises.

In order to solve this difficulty, the present invention is provided with a driving state light emitting unit 90 capable of emitting a color capable of indicating a corresponding driving state according to an unmanned driving state.

Referring to FIGS. 2 and 3, the driving state light emitting unit 90 may use LEDs having various colors, and includes an unmanned transport vehicle including a driving state, rotation, stop, running state, and charging state of an unmanned transport vehicle. It is provided on the outside of the body frame 10 to visually check the driving state of each color with a distinct color according to each state.

The touch panel 100 and the quick switch 110 are provided in the upper housing 40 and are automatically connected to the drive control unit when the upper housing 40 is attached to the body frame of the unmanned transport vehicle.

The touch panel 100 allows the user to manually control the operation of the unmanned transfer robot through the setting of the driving control unit 72, and the quick switch quickly includes the on / off of the unmanned transfer robot to quickly perform basic functions in driving. It is provided in the form of a shortened switch to help you.

Referring to FIG. 2, the driving battery 120 supplies power to components that require electricity, and is located in the center of the body frame 10 in consideration of the location of other components and the center of gravity of the unmanned transport vehicle. .

In addition, the unmanned transfer robot has a built-in remote control program 200 so that it can remotely control the unmanned transfer robot with the wireless remote controller 300.

The remote control program 200 is a program for remotely controlling an unmanned transfer robot with a wireless remote control, and is provided with an image output unit for displaying an image obtained from a camera provided in the multi-joint manipulator of the unmanned transfer robot, and a remote control program A program setting unit 220 capable of setting 200, a connection status display unit 230 showing a wireless remote control connection status, and a location display unit 240 displaying coordinates, moving speed and moving angle of the current unmanned transfer robot are provided. .

The wireless remote control 300 is provided with a direction movement control lever, a rotation movement control lever, an upward movement control button, a downward movement control button, and a safety sensor deactivation button.

The unmanned transfer robot can be controlled manually using the touch panel 100 and the wireless remote control 300 provided in the upper housing as well as automatic driving through the input location and code mark.

The above description is merely illustrative of the technical spirit of the present invention, and those of ordinary skill in the art to which the present invention pertains may make various modifications, changes, and substitutions without departing from the essential characteristics of the present invention. will be. Therefore, the embodiments and the accompanying drawings disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain the scope of the technical spirit of the present invention. . The scope of protection of the present invention should be interpreted by the claims below, and all technical spirits within the equivalent range should be interpreted as being included in the scope of the present invention.

2-Cross type code mark 3-Diamond type code mark
10-Body frame 20-Obstacle detection unit
30-Collision detection unit 40-QR code recognition unit
70-System control unit 71-Production management equipment control unit
72-Drive control unit 80-Mecanum wheel
90-Driving status light emitting part 100-Touch panel
110-Quick switch 120-Driving battery
130-Joint 140-Production management equipment
150-Manipulator 160-Manipulator grip
170-Manipulator Vision Sensor 200-Remote Control Program
300-Wireless remote control 400-Unmanned transport vehicle

Claims (3)

Modular body frame for each component mounting position to facilitate detachment of components located therein;
A plurality of obstacle detection units provided on the outside of the body frame to detect obstacles located in the progress path;
A collision detection unit which is provided on the outer surface of the body frame and transmits a collision signal when it collides with an obstacle outside the detection range of the obstacle detection unit;
A code mark recognition unit provided to recognize the current position in the progress direction and the progress path by recognizing the code mark attached to the floor on the progress path;
Upper housing coupled to the upper side of the body frame and equipped with a robot operation equipment including a driving control unit and a charging battery therein;
It is possible to combine the production management equipment including a manipulator and a camera, and a coupling portion formed on the upper side of the upper housing;
A plurality of code marks attached on the progress path of the unmanned transfer robot;
A system control unit that receives signals from sensors including an obstacle detection unit, a collision detection unit, and a code mark recognition unit, performs calculations, and transmits operation signals to a production management equipment control unit and a drive control unit;
A production management equipment control unit that receives signals transmitted from the system control unit and controls operation of production management equipment including a manipulator and a camera coupled to the coupling unit;
A drive control unit that receives a signal transmitted from the system control unit and controls the operation of the drive device including the McCannum wheel; And
Mecanum wheels that are respectively connected to independent drive motors on both sides of the body frame, and can be driven independently by drive signals from the drive control unit.
Including, mobile robot platform system for process and production management. According to claim 1,
The code mark is formed of a cross type and a diamond type,
In the cross type, the central QR code is located in the center, and 4 QR codes are located on the outside of the central QR code to provide 5 QR codes.
The diamond type has a central QR code in the center, an empty space of a cross shape on the outer side of the central QR code, and a QR code located on all sides to provide 9 QR codes.
Further comprising, a mobile robot platform system for process and production management. According to claim 1,
A remote control program including a QR code data, a wireless remote controller connection method and a status display unit for displaying equipment connection status confirmation, a QR code image and an image display unit for displaying a camera image provided in the manipulator; And
Wireless remote control including directional movement control lever, rotation movement control lever, upward movement control button, downward movement control button and safety sensor deactivation button
Further comprising, a mobile robot platform system for process and production management.

Images