KR20200069923A - Automated guided vehicle path management system and method thereof - Google Patents

Abstract

Disclosed are a system for managing a path of an automated guided vehicle and a method thereof. According to an embodiment of the present invention, the system comprises: an automated guided vehicle (AGV) recognizing a node identity (ID) of a node arranged at each point on a guided line while driving along the guided line of a designated transport path to transmit the node ID to a wireless repeater; and a server assigning the transport to the AGV and resetting the transport path based on a node ID last received by the AGV to transmit the transport path to the AGV when an abnormal node, which is inconsistent with the transport path, is detected by tracking a movement status of the AGV based on the node ID received through the wireless repeater.

Description

Unmanned transport vehicle route management system and its method {AUTOMATED GUIDED VEHICLE PATH MANAGEMENT SYSTEM AND METHOD THEREOF}

The present invention relates to an unmanned transport vehicle route management system and method, and more particularly, to an unmanned transport vehicle route management system and method for scheduling a route of an unmanned transport vehicle based on an external input signal and a conditional statement.

In general, various parts are assembled in a production line of an automobile factory, and an automated guided vehicle (hereinafter referred to as AGV) is operated for flexible and efficient transportation of parts. Particularly in the automated production process, the interruption of parts supply during operation has a great influence on the line stop and yield, so it is very important to transfer the parts in a timely manner.

After loading the goods, the AGV moves to the destination along the guide line installed on the floor. Induction of AGV includes an electromagnetic induction type, an optical induction type, or a magnetic induction type, but a relatively economical magnetic induction type is widely used in industrial fields.

The AGV is equipped with a sensor that senses the magnetic force of the magnetic guide wire, and is moved along the path of transportation of the component. In the transport path, a plurality of nodes through which the AGV must pass from the origin to the destination is sequentially set.

However, there is a problem in that the supply of parts may be disrupted if the bulky parts come into contact with other objects while the AGV is in operation, or if the sensor stops by deviating (derailing) from the guide lines for various reasons, such as not being able to properly recognize the magnetic guide line. .

In addition, in the workplace, it is difficult to check the stop event due to the departure of the AGV, and even if the stop of the AGV is confirmed, it is not possible to know exactly where the node was departed from. There is a problem that it is impossible to rerun due to inconsistency with.

An embodiment of the present invention monitors a stop event by tracking the movement status of an AGV operated in a workplace, and when a stop event occurs, an unmanned transport vehicle path management system that resets and transmits a transport path based on the node last received by the AGV, and I would like to provide a method.

According to an aspect of the present invention, the unmanned transport vehicle route management system recognizes and transmits a node ID (Identity) of a node disposed at each point on the guide line to a wireless repeater while driving along a guide line of a designated transport path. Automated Guided Vehicle (AGV); And granting the transport path to the AGV, tracking the movement status of the AGV based on the node ID received through the wireless repeater, and detecting an abnormal node inconsistent with the transport path, the node last received by the AGV And a server that resets the transport path based on the ID and transmits it to the AGV.

The AGV includes a node recognition module that recognizes the node ID by counting the magnetic pole of the S pole installed in the node; A wireless communication module that transmits the node ID to the server through a wireless repeater and receives a reset transport path from the server; A driving module that generates a driving driving force by operating a motor with power of a battery; A memory for storing at least one transfer path set by the server; And a control module controlling the driving module by extracting motion information matched to the recognized node ID.

In addition, the driving module may generate the driving driving force in a traveling direction and speed according to motion information set for each node of the transport path.

In addition, if the control module deviates from the transport path and the guide line is not recognized, an emergency stop signal may be applied to the drive module and an alarm may be generated, and a stop event message may be generated and transmitted to the server.

In addition, the stop event message may include at least one of an AGV ID, the last recognized node ID, event status information, and event time.

In addition, if the state of charge of the battery is a low voltage below a predetermined reference value, the control module may generate a charging event message and transmit it to the server.

In addition, the server is a communication unit for transmitting the transfer path set in the AGV, and receiving the node ID recognized by the AGV; A path setting unit for selecting an AGV when a part supply job is assigned and setting a transport path of the AGV by checking a starting point as a starting point and an ending point as a destination in a guide line map (MAP); A monitoring unit that stores the transport path of the AGV in operation in the factory in a database (DB), and monitors the movement status based on the node ID received from each AGV; A user interface unit that provides a screen for setting and monitoring the AGV transport path of the operator; And when the node ID received from the AGV is detected as an abnormal node mismatched to the transport path, an event alert is generated, and an alarm to the operator may include a control module.

In addition, the monitoring unit may determine whether the node is abnormal when the node ID does not exist in the set transport path or if the order in which the node ID is received is different from the node order of the set transport path.

In addition, if the next node ID is not received within a predetermined time after the node ID is finally received from the AGV, the monitoring unit may determine that the AGV is a stop event.

In addition, the user interface includes starting information at the starting point and ending point nodes, branch direction information at the branch point, traveling speed, transverse switching information to the left or right, obstacle sensor area, lifting operation information, melody output level, attendance confirmation information, The AGV transfer path based on conditional statements can be set by providing the operator with the charging information, the low voltage alarm level setting menu, and a command list of each menu.

In addition, the user interface includes the occurrence time and emergency stop, derailment, obstacle collision, wireless communication error, leakage warning, presence or absence of pallet, difference between AGV external input sensor signal and system status information, pallet failure, The status of at least one of the battery low voltage warnings may be displayed on the screen.

On the other hand, according to an aspect of the present invention, a method for managing an AGV path of a server that controls an automated guided vehicle (AGV) operated in a factory, a) selects an AGV required for a part transfer operation, and selects a transfer path. Setting and transmitting through a wireless repeater; b) when a node ID recognized during operation is received from the AGV, comparing the received node ID with the transport path of the AGV to determine whether there is an abnormal node according to matching; c) if the node ID is detected as an abnormal node that is mismatched with the transport path, generating an event alarm and alarming the node ID; And d) resetting the transport path based on the node ID last received by the AGV and transmitting it to the AGV.

In addition, step c) may include determining that the AGV is a stop event if the next node ID is not received within a predetermined time after the node ID is last received from the AGV.

In addition, step c) may include receiving an emergency stopped stop event message from the AGV that has deviated from the transport path.

In addition, step d), starting information for each node through the user interface, branch direction information at the branch point, driving speed, traversing switch information to the left or right, obstacle sensor area, lifting operation information, melody output level, attendance check The method may include resetting the AGV transport path based on the conditional statement by providing the operator with information, charging information, a low voltage alarm level setting menu, and a command list of each menu.

According to an embodiment of the present invention, the server managing the AGV monitors the operation status based on the node information received from the AGV, and thus has an effect of real-time grasping the occurrence of events such as emergency stop, abnormal node driving, and low voltage warning. .

In addition, when the AGV is operated as a node or a stop event occurs, the transfer path is recalculated and transmitted based on the last received node, so that operation can be quickly resumed.

In addition, by providing a user interface (UI) that allows operators to create, modify, and edit the transport path of AGV considering the environment of the AGV's mobile environment and production line, it is possible to manage the AGV transport schedule more efficiently and safely. have.

1 is a network configuration diagram of an unmanned transport vehicle route management system according to an embodiment of the present invention.
2 schematically shows the configuration of an AGV and a server according to an embodiment of the present invention.
3 is a conceptual diagram illustrating a left/right branching method and a left/right-transverse driving method of AGV according to an embodiment of the present invention.
4 shows an example of an AGV real-time control management screen according to an embodiment of the present invention.
5 illustrates an AGV abnormal status display screen according to an embodiment of the present invention.
6 is a flowchart schematically illustrating a method of managing an unmanned transport vehicle according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art to which the present invention pertains may easily practice. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. In addition, in order to clearly describe the present invention in the drawings, parts irrelevant to the description are omitted, and like reference numerals are assigned to similar parts throughout the specification.

Throughout the specification, when a part “includes” a certain component, this means that other components may be further included rather than excluding other components, unless specifically stated otherwise. In addition, terms such as “…unit”, “…group”, and “module” described in the specification mean a unit that processes at least one function or operation, which may be implemented by hardware or software or a combination of hardware and software. have.

Now, an unmanned transport vehicle route management system and method according to an embodiment of the present invention will be described in detail with reference to the drawings.

1 is a network configuration diagram of an unmanned transport vehicle route management system according to an embodiment of the present invention.

Referring to FIG. 1, an unmanned transport vehicle route management system according to an embodiment of the present invention includes an unmanned transport vehicle (AGV, 10), a wireless repeater 20 and a server 30.

The AGV 10 serves to supply parts by moving to a designated process line along a magnetic (N-pole) guide line designed at the bottom of the factory. The guide line forms a map (MAP) in the form of a network branched into several branches. Nodes that can be recognized by the AGV 10 during movement are arranged at each point such as a start point, a connection point, a branch point, and an end point of the guide line. Through this, nodes and links of the entire guide line map (MAP) are arranged. A coordinate system including is formed. Hereinafter, the node (Node) is denoted by "N" and, if necessary, a unique identification number (ID) is written. The link means a unit section in which the node N and another neighboring node N are connected by a guide line.

For example, when the AGV 10 located in the parts warehouse in FIG. 1 loads parts and moves to N42 (node 42) in the production line through the first path P1, the starting point of the corresponding transport path is N11, and the connecting point is N21. N31, a branch point may be N32, and an end point may be N42.

Hereinafter, the AGV 10 will be described on the assumption of the lower traction method of the pallet (carrier), but is not limited thereto, and may be configured in various ways such as a forklift method, a mini-rod method, and a front hook traction method.

A plurality of wireless repeaters 20 are arranged to form a wireless communication network, and relay wireless communication between the AGV 10 and the server 30. For example, the wireless repeater 20 may be configured as a wireless LAN (WiFi), and is not limited thereto, and may use various wireless communication technologies such as single-hop multi-hop.

The wireless repeater 20 may transmit node identification information (ID) received from the AGV 10 to the server 30 and transmit route information received from the server 30 to the designated AGV 10.

The server 30 is a control system that monitors and manages the movement status of the AGV 10 operated in the factory.

The server 30 is connected to a production execution system (MES) (not shown) through an in-house network, so that the parts according to the working conditions of the production line can be supplied in a timely manner, and the parts transfer path of the AGV 10 Gives.

2 schematically shows the configuration of an AGV and a server according to an embodiment of the present invention.

Referring to FIG. 2, the AGV 10 includes a wireless communication module 11, a node recognition module 12, a driving module 13, a memory 14 and a control module 15.

The wireless communication module 11 transmits the node ID recognized during the movement of the AGV 10 to the server 30 through the wireless repeater 20.

Also, the wireless communication module 11 may receive the wireless repeater 20 on the transport path reset by the server 30.

The node recognition module 12 recognizes the node ID in such a way that the AGV 10 counts the magnetic field of the RFID or S pole installed at the node passing along the guide line while moving. To this end, the node recognition module 12 may include at least one magnetic sensor and RFID detection means.

The driving module 13 generates a driving driving force of the AGV 10 by operating a motor with power of a battery (not shown).

The driving module 13 may generate driving force in a moving direction and speed of the AGV 10 according to motion information (driving command) set for each node of the transport path.

The driving module 13 includes a motor 1 for driving the driving wheel (not shown) of the AGV 10 in the forward or reverse direction, and a motor 2 for separating the driving wheel from the vehicle body (pallet) and rotating it in the left or right direction. do. Here, the driving wheel is restrained by the fixed body which is moved back and forth to the cylinder at all times, and when the motor 2 is rotated, it can be separated from the vehicle body for a while by releasing the fixed pin and then recombined.

3 is a conceptual diagram illustrating a left/right branching method and a left/right-transverse driving method of AGV according to an embodiment of the present invention.

First, referring to FIG. 3(A), when the AGV 10 is assumed to move from N21 to N42, the driving module 13 includes the AGV 10 forward, right, forward, left, and straight. It is driven by the motion (Motion), and the vehicle body (palette) of the AGV 10 is switched according to the traveling direction.

Next, referring to FIG. 3(B), the driving module 13 may drive the AGV 10 in a motion including only forward, right-transverse, and forward.

At this time, the driving module 13 rotates only the driving wheel through the motor 2 in the right direction while the vehicle body of the AGV 10 faces forward, and the right-side traverse driving the driving wheel rotated in the right direction through the motor 1. Can be controlled. On the contrary, the driving module 13 may be operated in a left-transverse direction that moves in the left direction by rotating only the driving wheel in the left direction without leaving the vehicle body. As an easy example, the left-right row and the right-side row may be compared to the tidal crab moving left and right.

The memory 14 stores various programs and data for the operation of the AGV 10.

The memory 14 stores at least one AGV transport path set by the server 30.

For example, the AGV transport path is a component supply path for supplying parts received from the warehouse to the production line, a component receiving path from the production line to the warehouse for component receipt, a charging path to the charging station for battery charging of the AGV, etc. This can be included.

The control module 15 may be composed of at least one processor and circuit that controls the overall operation of each module of the AGV 10.

When the movement command of the AGV 10 is input, the control module 15 grasps the designated transfer path and starts the movement of the AGV 10 through control of the driving module 13.

The control module 15 recognizes the N-pole magnetic of the guide line and transmits the recognized node ID to the server 30 through the wireless communication module 11 when the node ID is recognized by the node recognition module 12 while moving. At this time, the transmitted node ID is used as monitoring information for tracking the movement status of the AGV 10 in the server 30.

In addition, the control module 15 controls the driving module 13 by extracting motion information matched to the recognized node ID from the transport path. For example, when moving to the first path P1 in FIG. 1, the control module 15 controls the straight motion when the stopover point N21 is recognized, controls the right-quarter motion when N31 is recognized, and when N32 is recognized The left branch motion can be controlled, and when N42 is recognized, it can be controlled as a stop motion.

In addition, if the control module 15 deviates from the guide line due to various reasons such as physical collision with the outside during the movement, and the guide line is not recognized, a stop signal is applied to the driving module 13 to display an alarm, and immediately The stop event message is generated and transmitted to the server 30. The stop event message may include its own AGV ID, last recognized node ID, last motion (stop), and stop time.

When the reset transport path is received from the server 30 after transmission of the stop event message, the control module 15 updates the existing transport path to the reset transport path and resumes movement when it returns to the guide line.

In addition, the control module 15 may generate a charging event message and transmit it to the server 30 when the charging state (SoC) of the battery requires charging with a low voltage below a predetermined reference value.

Meanwhile, according to an embodiment of the present invention, the server 30 includes a communication unit 31, a route setting unit 32, a monitoring unit 33, a database (DB; 34), and a user interface (UI; 35). , A control unit 36.

The communication unit 31 is connected to the AGV 10 operating in the factory by wireless communication, transmits a transport path, and receives the node ID recognized during the movement of the AGV 10.

When a task for supplying parts from the MES to the production line is assigned, the route setting unit 32 checks the start point and the end point of the entire guide line map (MAP) to set the optimal transport path. Here, the optimal transport path does not simply mean a path through which the AGV 10 reaches a destination via the shortest node, and the AGV 10 is an unattended transport method, and accordingly, the state of the AGV according to the previous motion at each node ( Example: Set the motion information based on the conditional statement to move to the next node according to the current vehicle body direction, driving wheel direction, etc., and consider the movable area (space) according to the volume (size) of the part and the surrounding obstacle objects It means establishing a safe transportation path in which the possibility of contact is eliminated.

Meanwhile, when the AGV 10 collides with an obstacle while moving or deviates from the guide line due to an unexpected external contact, a stop event may be generated. At this time, preferably, the AGV 10 should be moved to the first deviated position and the operation should be resumed. The reason is that the transport path specified in the AGV 10 is set based on the conditional statement. This is because it is programmed to take and continue to the next node.

However, the workers cannot know the deviation position of the AGV (10), so if it is not moved to the correct departure position, the node order of the departure point and the corresponding motion information are inconsistent even if it is not the designated transport path or the designated transport path. As it causes, the operation of the AGV 10 is impossible.

Therefore, the route setting unit 32 may determine that the node ID received from the AGV 10 is an abnormal node deviating from the set transport path, or reset and transmit the transport path based on the last received node ID when a stop event occurs. At this time, the route setting unit 32 may recalculate the optimal path from the last identified node ID to the destination node ID of the corresponding AGV 10.

The monitoring unit 33 stores the transport path set in the AGV 10 in operation in the factory in the DB 34, and monitors the movement status based on the node ID received from each AGV 10.

The monitoring unit 33 compares whether the node ID received from the AGV 10 exists in the set transfer path or whether the node ID reception (recognition) order matches the set transfer path to determine whether an abnormal node exists.

If the transfer path set in the AGV 10 and the received node ID are mismatched, the monitoring unit 33 may determine that the node is an abnormal node, and request a path reset by the path setting unit 32.

Also, the monitoring unit 33 may generate a stop event of the corresponding AGV 10 if the node ID is not received within a predetermined time after the node ID is last received from the AGV 10. At this time, the stop event is based on the AGV 10 monitoring function of the server 30 separately from the stop event message generated by the AGV 10.

The DB 34 stores various programs and data for the server 30 according to an embodiment of the present invention to manage the path of the AGV 10, and stores information collected and generated according to its operation.

The user interface 35 provides a UI screen of various menus for the operator to set and monitor the transport path of the AGV 10 through the server 30.

The user interface 35 graphically generates a guided map (MAP) image installed in the factory and the arrangement coordinate system of the node, and augments the movement information and event situation of the AGV 10 tracked by the monitoring unit 33 thereon. Can be displayed.

4 shows an example of an AGV real-time control management screen according to an embodiment of the present invention.

Referring to FIG. 4, the user interface 35 is an AGV real-time control management system including menus such as AGV status information monitoring, layout setting, AGV information and I/O sensor setting, AGV abnormal status display, and AGV traffic control function. Show the UI.

The user interface 35 may set the AGV transport path and motion information for each node included in the transport path through the layout setting screen.

For example, the user interface 35 starts (starts/stops) information at a starting point as a starting point and a destination node as a destination, branch information at a branch point (left/right branch), speed for each node, and transverse switching information (left- Traverse/right-transverse), obstacle sensor area, lifting operation information (rising/falling, N/A), melody output level, attendance confirmation information (ON/OFF), charging information, low voltage alarm level setting menu and each menu You can set the AGV transport path based on conditional statements by providing a command list.

5 shows an AGV abnormal status display screen according to an embodiment of the present invention.

Referring to FIG. 5, the user interface 35 is generated or monitored by AGV, and the occurrence time and defense according to the event occurrence situation of each AGV are monitored, emergency stop, derailment (departure), obstacle collision, wireless communication error, leakage warning, pallet (Loan) Existence, the difference between AGV external input sensor signal and system status information, pallet combination failure, battery low voltage warning and other event status can be displayed on the screen and alarmed to the operator.

The control unit 36 controls the overall operation of each unit for AGV route management according to an embodiment of the present invention.

The control unit 36 may execute the functions of the respective units with reference to the execution and data of the program stored in the DB 34, and may be a control subject in reality.

Accordingly, in the description of the method for managing the unmanned transport vehicle path according to the embodiment of the present invention described below, each step operation (function) processed by the server 30 is performed by the control unit 36, and thus the description thereof is substituted.

6 is a flowchart schematically illustrating a method for managing an unmanned transport vehicle path according to an embodiment of the present invention.

Referring to the attached FIG. 6, the server 30 according to an embodiment of the present invention selects the AGV required for the transportation of parts, sets the transport path (S1), and sets the set transport path to AGV (via wireless communication). 10). At this time, the server 30 may set AGV, nodes included in the transport path, and AGV motion information at each node through the layout setting screen of the user interface 35 shown in FIG. 4.

The AGV 10 stores the transport path received from the server 30 (S3), and starts driving from the starting point (S4).

The AGV 10 is guided to the magnetic guide line, and when a node is recognized while moving (S5), the recognized node ID is transmitted to the server 30 (S6).

The AGV 10 performs motion control matching the node ID in the stored transport path and moves to the next node (S7). Here, the motion control may include whether or not to change the direction of the AGV to move from the current node to the next node and driving information.

If there is no special event during the movement (S8; No), the AGV 10 recognizes the next node and repeats motion control accordingly to stop at the destination.

On the other hand, the AGV 10 stops urgently when an event such as an unrecognized guide line occurs due to departure from the guide line due to various reasons such as physical collision with an obstacle while moving (S8; Yes), and an associated event message. It can be generated and transmitted to the server 30 (S9).

On the other hand, when the node ID recognized by the AGV 10 is received (S6), the server 30 compares the received node ID with the transport path set in the corresponding AGV 10 to determine whether there is an abnormal node according to the matching. (S10). When the node ID is mismatched to the transport path and the abnormal node is detected (S10; YES), the server 30 generates an event alert and alerts the operator (S11).

In addition, even if the node ID matches the transport path, the server 30 may receive an event message from the AGV 10 (S9) and generate an event alert to alert the operator (S11).

When the event occurs, the server 30 checks the node ID last received by the AGV 10 (S12), resets the transfer path to the destination based on the last node ID (S13), and AGV the reset transfer path. It is transmitted to (10) (S14).

When the reset transport path is received from the server 30, the AGV 10 stores it in the memory (S15) and displays the location of the restart node according to the reset transport path through the display screen.

The AGV 10 resumes operation of the reset transport path while moving to the location of the restart node (S16). Thereafter, the AGV 10 returns to step S5 and repeats motion control according to node recognition until arrival at the destination.

As described above, according to an embodiment of the present invention, a server that manages AGV monitors the operation status based on node information received from AGV, and can identify events such as emergency stop, abnormal node driving, and low voltage warning in real time. It works.

In addition, when the AGV is operated as a node or a stop event occurs, the transfer path is recalculated and transmitted based on the last received node, so that operation can be quickly resumed.

In addition, by providing a user interface (UI) that allows operators to create, modify, and edit the transport path of AGV considering the environment of AGV's mobile environment and production line, it is possible to manage the AGV transport schedule more efficiently and safely. have.

The embodiment of the present invention is not implemented only through the apparatus and/or method described above, and is implemented through a program for realizing a function corresponding to the configuration of the embodiment of the present invention, a recording medium in which the program is recorded, and the like. Alternatively, such an implementation can be easily implemented by those skilled in the art to which the present invention pertains from the description of the above-described embodiments.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concept of the present invention defined in the following claims are also provided. It belongs to the scope of rights.

10: Unmanned Transport Vehicle (AGV) 11: Wireless Communication Module
12: node recognition module 13: drive module
14: memory 15: control module
20: wireless repeater 30: server
31: communication unit 32: route setting unit
33: monitoring unit 34: database (DB)
35: user interface (UI) 36: control unit

Claims (15)

An autonomous guided vehicle (AGV) that recognizes a node ID (Identity) of a node disposed at each point on the guide line and transmits it to a wireless repeater while driving along a guide line of a designated transfer path; And
When the AGV is assigned to the transport path, and based on the node ID received through the wireless repeater, the movement status of the AGV is tracked, and when an abnormal node that is inconsistent with the transport path is detected, the node ID last received by the AGV A server that resets a transport path based on and transmits it to the AGV;
Unmanned transport vehicle route management system comprising a. According to claim 1,
The AGV
A node recognition module that counts the magnetic pole of the S pole installed in the node and recognizes the node ID;
A wireless communication module that transmits the node ID to the server through a wireless repeater and receives a reset transport path from the server;
A driving module that generates a driving driving force by operating a motor with power of a battery;
A memory for storing at least one transfer path set by the server; And
A control module controlling the driving module by extracting motion information matched to the recognized node ID;
Unmanned transport vehicle route management system comprising a. The method of claim 2
The drive module
An unmanned transport vehicle path management system that generates the driving driving force in a moving direction and speed according to motion information set for each node of the transport path. According to claim 2,
The control module
An unmanned transport vehicle path management system that transmits an emergency stop signal to the drive module and issues an alarm, generates a stop event message, and transmits it to the server when the guide line is not recognized because of departure from the transfer path. The method of claim 4,
The stop event message
An unmanned transport vehicle route management system including at least one of an AGV ID, the last recognized node ID, event status information, and event time. According to claim 2,
The control module
An unmanned transport vehicle route management system that generates a charging event message and transmits it to the server when the state of charge of the battery is a low voltage below a predetermined reference value. The method according to any one of claims 1 to 6,
The server
A communication unit that transmits a transport path set in the AGV and receives the node ID recognized by the AGV;
A path setting unit for selecting an AGV when a part supply operation is assigned and setting a transport path of the AGV by checking a starting point as a starting point and an arrival point as a destination in a guideline map (MAP);
A monitoring unit that stores the transport path of the AGV in operation in the factory in a database (DB), and monitors the movement status based on the node ID received from each AGV;
A user interface unit that provides a screen for setting and monitoring the AGV transport path of the operator; And
When the node ID received from the AGV detects an abnormal node that is mismatched to the transport path, an event alarm is generated and an alarm is issued to the operator;
Unmanned transport vehicle route management system comprising a. The method of claim 7,
The monitoring unit
An unmanned transport vehicle path management system that determines whether the node is abnormal when the node ID does not exist in the set transport path or when the order in which the node ID is received is different from the node order of the set transport path. The method of claim 7,
The monitoring unit
If the next node ID is not received within a predetermined time after the node ID is finally received from the AGV, the unmanned vehicle path management system determines that the AGV is a stop event. The method of claim 7,
The user interface
Start information at start and end nodes, branch direction information at the branch point, driving speed, traversing switch information to the left or right, obstacle sensor area, lifting operation information, melody output level, seat confirmation information, charging information, low voltage alarm level An unmanned transport vehicle route management system that sets the AGV transport path based on conditional statements by providing the operator with a setting menu and a command list of each menu. The method of claim 7,
The user interface
At least one of occurrence time and emergency stop, deviation, obstacle collision, wireless communication error, leak warning, presence of pallet, difference between AGV external input sensor signal and system status information, pallet combination failure, battery low voltage warning Unmanned transport vehicle route management system that displays the event status on the screen. In the method of managing the AGV route of the server that controls the Automated Guided Vehicle (AGV) operated in the factory,
a) selecting the AGV required for the transfer operation of the parts, setting a transfer path, and transmitting it through a wireless repeater;
b) if a node ID recognized during operation is received from the AGV, comparing the received node ID with the transport path of the AGV to determine whether there is an abnormal node according to matching;
c) if the node ID is detected as an abnormal node that is mismatched with the transport path, generating an event alarm and alarming the node ID; And
d) resetting the transmission path based on the node ID last received by the AGV and transmitting it to the AGV;
Unmanned transport vehicle path management method comprising a. The method of claim 12,
Step c),
And determining that it is a stop event of the AGV if a next node ID is not received within a predetermined time after the node ID is last received from the AGV. The method of claim 12,
Step c),
And receiving an emergency stop stop event message deviating from the AGV from the transport path. The method of claim 12,
Step d),
Through the user interface, start information for each node, branch direction information at the branch point, driving speed, traverse change information to the left or right, obstacle sensor area, lifting operation information, melody output level, seat confirmation information, charging information, low voltage alarm level A method of managing an unmanned transport vehicle path including providing a setting menu and a command list of each menu to an operator to reset the AGV transport path based on conditional statements.

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