KR20200094937A - Conveying system using unmanned aerial vehicle and operation method thereof - Google Patents

Abstract

The present invention relates to a transfer system using an unmanned aerial vehicle and an operation method thereof and, more specifically, to a system capable of facilitating construction of a flexible manufacturing line (FML) by improving the flexibility and expandability of a manufacturing line and improving manufacturing speed of a product by transferring products or parts necessary for manufacturing between a plurality of statins by an unmanned aerial vehicle and increasing the degree of freedom of transfer between each station, and an operation method thereof.

Description

Conveying system using unmanned aerial vehicle and its operation method {CONVEYING SYSTEM USING UNMANNED AERIAL VEHICLE AND OPERATION METHOD THEREOF}

The present invention relates to a transfer system using an unmanned aerial vehicle and a method of operating the same, and more particularly, by transferring products or parts necessary for production between a plurality of stations to an unmanned aerial vehicle to increase the degree of freedom of transfer between each station. , It relates to a system and its operation method that facilitates the establishment of a flexible manufacturing line (FML) by improving the flexibility and expandability of the production line, and improves the production speed of products.

Recently, an IoT (Internet of Things) device is attached to an automated process line to extract operation status, process information, and product information for each unit process in real time, and transfer the extracted information to a remote central control system to include in the process. There is increasing interest in smart factories that can efficiently manage the operation of various machines and improve the quality of products produced in factories.

The smart factory refers to a factory in which facilities and processes of a factory are intelligently connected to a production network, and all production data and information are shared and utilized in real time to enable an operation for optimized production.

In particular, the CPS (Cyber Physical System)-based smart factory configures a cyber model in which the actual factory is virtualized and is synchronized with the actual factory, and then applies the collected data in real time to the cyber model to perform efficient operation of the manufacturing system. Through this, it can autonomously recognize and respond to changes in circumstances such as orders, changes, and equipment failure.

Meanwhile, in a personalized production system, it is essential to form a flexible production line in order to efficiently manufacture personalized products.

At this time, transferring parts and products (work) required for production in the flexible production line is an important design factor that ensures the flexibility of the production line. In addition, the hardware responsible for each unit process of the production line to perform a predetermined task is referred to as a station, and the production line refers to the arrangement of such stations to efficiently produce specific products.

The flexible production line is not a fixed line specialized for a specific product, but a production line designed to produce various products on the same production line.In order to implement a flexible production line, not only the relocation of stations but also the degree of freedom of connection between stations must be high. do.

However, the transfer of products or parts for production on a previously known production line is a straight conveyor system, a circular distribution system using a transfer robot, a mobile robot that moves along a fixed transfer line, and moves along a fixed track. Although a track-based transfer device for transferring parts has been proposed, such a conventional method has a problem of limiting the degree of freedom of the transfer path.

Therefore, in the present invention, by using an unmanned aerial vehicle between a plurality of stations to transfer products or parts necessary for production, it is possible to maximize the flexibility and expandability of the production line by securing various transfer paths, and to improve the production speed of products. I would like to suggest a possible solution.

In addition, the present invention proposes a plan to fly while avoiding collisions with each other by controlling horizontal and vertical movement through the search for overlapping paths of each unmanned aerial vehicle when a plurality of transfer operations are simultaneously performed during the operation of the unmanned aerial vehicle. I want to.

Next, the prior art existing in the technical field of the present invention will be briefly described, and then the technical matters to be achieved differently from the prior art will be described.

First, U.S. Patent Publication No. 2015-0294045 (2015.10.15) relates to a virtualization modeling device that can express all of the ports, structures, and constraints of a physical system through modeling. do.

In addition, US Patent Publication No. 2017-0031663 (2017.02.02.) is for managing various software operating in a cyber physical system, and can manage version change, issue/change event, and the like. The prior art can diagnose and classify the dependencies of software artifacts in the software architecture of a complex cyber-physical system, correlate change events for software artifacts and changes in diagnosed and classified dependencies, and can also create a complex cyber-physical system. It can be enhanced with new functions as required by market demand, and defects that appear during maintenance and maintenance of complex cyberphysical systems can be diagnosed and corrected in relation to categorized dependencies and diagnosed and classified dependencies.

In addition, Korean Registered Patent Publication No. 10-1222051 (2013.01.08.) relates to a data model generation method for a virtual factory and a data model middleware system for a virtual factory. 3D CAD and 3D CAE dependent on independent software By integrating virtual factory and virtual operation technology through simulation, integrated virtual manufacturing and virtual operation can be realized.

As a result of reviewing the prior arts above, the prior arts include the use of an unmanned aerial vehicle between a plurality of stations to transfer products or parts necessary for production, thereby ensuring flexibility and expandability of the production line through securing various transfer routes. Maximizes and improves the production speed of the product.In the case of multiple transfer operations in the process of operating the unmanned aerial vehicle at the same time, by controlling the horizontal and vertical movement through the search of the overlapping path of each unmanned aerial vehicle, it is possible to fly while avoiding collisions with each other. It does not describe or suggest possible technical features of the present invention.

The present invention was created to solve the above problems, and provides a transfer system using an unmanned aerial vehicle capable of transferring products or parts required for production by using an unmanned aerial vehicle between a plurality of stations and a method of operating the same. It aims to do.

In addition, the present invention uses an unmanned aerial vehicle to increase the freedom of transport between each station through the transport of products or parts required for production, thereby securing various transport paths to maximize the flexibility and expandability of the production line, and Another object is to provide a transfer system using an unmanned aerial vehicle that can easily perform construction and a method of operating the same.

In addition, the present invention sets the shortest flight path for each unmanned aerial vehicle when a plurality of transfer operations are simultaneously performed during the operation of the unmanned aerial vehicle, and moves horizontally and vertically to avoid the risk of collision by searching the flight path of each unmanned aerial vehicle. Another object is to provide a transfer system using an unmanned aerial vehicle that can smoothly perform a transfer operation while avoiding a collision with other unmanned aerial vehicles during the transfer process and a method of operating the same.

A transfer system using an unmanned aerial vehicle according to an embodiment of the present invention includes a station control unit that controls each station-specific operation provided on a production line, and controls the mounting of an unmanned aerial vehicle of a product or part worked at the station, and the It includes an unmanned aerial vehicle control unit that controls the flight of the unmanned aerial vehicle equipped with the product or parts worked at the station to the station that performs the next process, and the unmanned aerial vehicle flies according to a pre-set flight path, but the production line It is characterized in that it avoids collision with other unmanned aerial vehicles by performing horizontal and vertical movement according to the flight path reset by the unmanned aerial vehicle controller that performs flight path search for all unmanned aerial vehicles currently in flight.

In addition, the unmanned aerial vehicle control unit, when using the unmanned aerial vehicle to transfer each product or part used in the production line between stations, for each unmanned vehicle, the flight path including coordinate information of the origin station, the waypoint and the destination station It includes a path setting unit to set, and a path search unit that searches the flight paths of all unmanned aerial vehicles currently in flight on the production line, and checks whether an unmanned aerial vehicle with a risk of collision exists at a specific time point and coordinates as a result of the search, and the path The setting unit is characterized in that, as a result of the search of the path search unit, if there is an unmanned aerial vehicle with a risk of collision, by resetting the flight paths for horizontal and vertical movement of the unmanned aerial vehicles at a specific point in time and coordinates, the collision is avoided. .

In addition, the transfer system, a production planning unit that establishes a process sequence of products to be produced through a production line equipped with a plurality of stations, and determines the arrangement of the stations based on the established process sequence, according to the established process sequence. A transfer planning unit that establishes a transfer plan of products or parts used in the process between stations using the unmanned aerial vehicle, and the current status of work being performed from each of the stations and unmanned aerial vehicles, the transfer status of products or parts, or a combination thereof It characterized in that it further comprises a production process check unit that receives the included process information, checks the process performance result based on the process information, and determines the progress of the next process based on the confirmed process performance result.

In addition, the station is a mechanism including a drive control unit for controlling the drive of the station based on a control command received from the station control unit, an automation device and a robot installed in the working space of the station, according to the control of the drive control unit A mechanism unit that performs a work for product production in the work space, an upper plate unit provided on an upper portion so that the unmanned aerial vehicle can take off or land, and equipped with at least one sensor for confirming the takeoff or landing of the unmanned aerial vehicle, And it is installed in the work space, characterized in that it comprises a transport unit for mounting the product or parts performed in the work space to the unmanned aerial vehicle or to move the product or parts unloaded from the unmanned aerial vehicle to the work space. To do.

In addition, the station further includes a charging unit for charging the power used of the unmanned aerial vehicle located on the upper plate, and the charging unit performs charging of the unmanned aerial vehicle located on the upper plate in a non-contact wireless charging method, or a charging terminal It is characterized in that the charging of the unmanned aerial vehicle is performed by a contact charging method connected through.

In addition, a method of operating a transfer system using an unmanned aerial vehicle according to an embodiment of the present invention is, in a production line management server, controlling the work of each station provided in the production line, and unattended products or parts worked at the station. A station control step of controlling the mounting of the vehicle, and an unmanned aerial vehicle control step of controlling the flight of the unmanned aerial vehicle with the product or part mounted on the station to a station performing the next process in the production line management server And, the unmanned aerial vehicle is flying according to a pre-set flight path, but the horizontal and vertical movement according to the flight path reset by the production line management server that performs flight path search for all unmanned aerial vehicles currently in flight on the production line. By performing, it is characterized in that it avoids collision with other unmanned aerial vehicles.

In addition, the unmanned aerial vehicle control step, when transferring each product or part used in the production line between stations using the unmanned aerial vehicle, in the production line management server, a departure station, a stopover, and a destination station for each unmanned vehicle. Path setting step of setting a flight path including coordinate information of, and in the production line management server, the flight path of all unmanned aerial vehicles currently in flight on the production line is searched, and as a result of the search, there is a risk of collision at a specific point in time and coordinates. It includes a path search step of checking whether an unmanned aerial vehicle exists, and the path setting step, if the unmanned aerial vehicle with a risk of collision exists as a result of the search, the flight for horizontal and vertical movement of the unmanned aerial vehicle at a specific point in time and coordinates By re-routing, it characterized in that it further comprises to avoid the collision.

In addition, the operation method comprises, in the production line management server, a production planning step of establishing a process sequence of products to be produced through a production line equipped with a plurality of stations, and determining the arrangement of the stations based on the established process sequence, In the production line management server, a transfer planning step of establishing a transfer plan of products or parts used in the process between stations using the unmanned aerial vehicle according to the established process sequence, and in the production line management server, the station and Process information including current work status, product or part transfer status, or a combination thereof is received from each unmanned aerial vehicle, and the process performance result is checked based on the process information. It characterized in that it further comprises the step of confirming the production process to determine the progress.

In addition, the operation method includes, at the station, performing a task for product production to be carried out at the station in a work space through an automation device and a robot driven by a servo motor based on a control command received from the production line management server. A task performing step, and at the station, a transfer step of mounting a product or component performed in the work space to the unmanned aerial vehicle or moving the product or component unloaded from the unmanned aerial vehicle to the work space. do.

In addition, the operating method further includes a charging step of charging the power used of the unmanned aerial vehicle at the station, and the charging is performed by charging the unmanned aerial vehicle by a non-contact wireless charging method, or connected through a charging terminal. It characterized in that the charging of the unmanned aerial vehicle is performed by a contact charging method.

As described above, according to the transfer system using the unmanned aerial vehicle of the present invention and its operation method, since the unmanned aerial vehicle is used between a plurality of stations to transfer products or parts necessary for production, it is produced by securing various transfer paths. It is possible to maximize the flexibility and expandability of the line, and accordingly, there is an effect that it is possible to easily perform the construction of a flexible production line.

In addition, the present invention sets the shortest flight path for each unmanned aerial vehicle in the process of operating an unmanned aerial vehicle between a plurality of stations at the same time, and avoids the risk of collision by searching the flight path of each unmanned aerial vehicle. Since the horizontal and vertical movement is controlled so that it can be performed, there is an effect that the transfer operation can be performed quickly and safely while avoiding collision with other unmanned aerial vehicles.

1 is a view for explaining a transfer system using a conveyor and a transfer system using a robot according to the prior art.
2 is a view showing the configuration of a transfer system using an unmanned aerial vehicle according to an embodiment of the present invention.
3 is a conceptual diagram for explaining the processing process of the transfer system using an unmanned aerial vehicle to which the present invention is applied.
4 is a diagram showing in detail the configuration of a production line management server according to an embodiment of the present invention.
5 is a diagram showing in detail the configuration of a station according to an embodiment of the present invention.
6 is a flow chart showing in detail the operation of the method of operating a transport system using an unmanned aerial vehicle according to an embodiment of the present invention.
7 is a view showing an embodiment of the transfer process of products or parts between stations of an unmanned aerial vehicle applied to the present invention.
8 is a view showing an embodiment of horizontal and vertical flight for the transfer of products or parts between stations of an unmanned aerial vehicle applied to the present invention.

Hereinafter, a preferred embodiment of a transfer system using an unmanned aerial vehicle of the present invention and an operating method thereof will be described in detail with reference to the accompanying drawings. The same reference numerals in each drawing denote the same members. Also, specific structural or functional descriptions of the embodiments of the present invention are exemplified for the purpose of describing the embodiments according to the present invention, and unless defined otherwise, all terms used herein, including technical or scientific terms. These have the same meaning as those generally understood by those of ordinary skill in the art. Terms such as those defined in a commonly used dictionary should be interpreted as having meanings consistent with meanings in the context of related technologies, and should not be interpreted as ideal or excessively formal meanings unless explicitly defined herein. It is desirable not to.

1 is a view for explaining a transfer system using a conveyor and a transfer system using a robot according to the prior art.

As shown in FIG. 1, typical production process lines known in the related art include a linear line using a conveyor and a circular line using a robot.

Here, the linear line refers to a straight-line production line where parts are assembled at each process station and finally finished products are produced. In addition, the circulation line is a structure in which a robot that supplies a product or part or a device corresponding to it is located in the center, and the robot inputs and outputs products or parts according to the sequence of processes required in the production process from a plurality of stations surrounding it. The structure may be configured such that a plurality of them are connected and interlocked.

This structure has traditionally been mainly used when the process is very simple, and has a flat structure, and thus takes up a lot of space and takes a lot of time to perform the process.

More specifically, in the case of a conveying system using a conveyor shown in FIG. 1A, there is a problem in that flexibility is greatly reduced because the moving path of products or parts is fixed according to the arrangement method or position of the conveyor.

In addition, in the case of a transfer system in which the robot is placed in the center and the stations are arranged in a circular shape as shown in FIG. There is a problem that is very limited.

In addition, in the case of using a robot, the working speed is determined according to the moving speed of the robot, and since only plane movement is performed, there is a problem in that it is not easy to secure a plurality of transport paths when a transport operation of several paths is simultaneously performed.

Accordingly, in the present invention, in order to establish a more flexible production line with respect to the conventional process line, an unmanned aerial vehicle is used between a plurality of stations to transfer products or parts necessary for production, and each unmanned aerial vehicle is operated After searching whether there is an overlapping path of the aircraft, it is intended to propose a transport system that can fly while avoiding collisions with each other by controlling horizontal and vertical movement through this.

2 is a view for explaining the structure of a transfer system using an unmanned aerial vehicle according to an embodiment of the present invention.

As shown in FIG. 2, the system of the present invention includes a production line management server 100, a plurality of stations 200, a plurality of unmanned aerial vehicles 300, a database 400, and the like.

The production line management server 100 is a computer operated by a business operator operating a production line for product production, and is a unit for product production for each station 200 in a flexible production line equipped with a plurality of stations 200 The process is determined, and products or parts required for the determined process can be quickly and freely transferred between each station 200 using the unmanned aerial vehicle 300.

That is, the production line management server 100 uses at least one unmanned aerial vehicle 300 between a plurality of stations 200 to increase the degree of freedom of transfer between each station 200 based on the transfer of products or parts required for production. , By maximizing the flexibility and expandability of the production line through securing these various transport paths, the flexible production line can be easily constructed.

In addition, the production line management server 100 is each unmanned to perform a transfer operation between each station 200 according to the production process when a plurality of processes of transferring products or parts using the unmanned aerial vehicle 300 are carried out at the same time. The shortest flight path for each vehicle 300 is set, and the operation of each unmanned aerial vehicle 300 is collectively controlled based on the set flight path.

In this process, the production line management server 100 searches the flight path of each unmanned aerial vehicle 300 running between each station 200 at a specific time according to the set flight path, and As a result of checking whether there is a possibility of collision, if there is a possibility of collision, the flight path of the unmanned aerial vehicle 300 is controlled to move horizontally or vertically at a specific point in time or coordinates to prevent collision with other unmanned aerial vehicles 300. Try to avoid it.

A plurality of the stations 200 are provided on the production line, and it is determined to perform a specific unit process for each station 200 based on the control of the production line management server 100. At this time, each of the stations 200 is arranged through the control of the production line management server 100 so that a specific product can be efficiently produced, and the relocation of the stations 200 and the degree of freedom of connection between the stations 200 are high. The implementation of the production line becomes easy.

In addition, the station 200 receives and unloads products or parts required for production from another station 200 through the unmanned aerial vehicle 300 based on the control of the production line management server 100 and then performs a predetermined process or Or, the currently-worked product or part is mounted on the unmanned aerial vehicle 300 and transferred to the station 200 to perform the next process.

The unmanned aerial vehicle 300 is an unmanned aerial vehicle in the shape of an airplane or helicopter capable of flying and controlling by induction of radio waves, and is commonly known as a drone, and in the present invention, a plurality of the production lines can be operated simultaneously. .

In addition, the unmanned aerial vehicle 300 performs a function of transferring products or parts required for production between each station 200 at each station 200 provided in the production line based on the control of the production line management server 100 do.

That is, the unmanned aerial vehicle 300 transfers products or parts required for production based on coordinate information of a departure station, a stopover station, and a destination station based on the flight path information determined by the production line management server 100 according to the production process.

At this time, the unmanned aerial vehicle 300 controls the collision avoidance of the production line management server 100 when running between each station 200 at a specific time according to the flight path set by the production line management server 100. Based on a specific coordinate or point in time, by changing the originally determined flight path to perform horizontal or vertical movement, it is possible to avoid colliding with the other unmanned aerial vehicle 300.

In addition, the unmanned aerial vehicle 300 is preferably configured to have various functions as follows.

For example, the unmanned aerial vehicle 300 has a hovering function that can maintain a stationary state in the air for a certain period of time, a vertical take-off and landing function that can take off and land vertically, and a communication enough to cover the entire production line. It should be equipped with a wireless communication function (Wi-Fi, LTE, 5G, etc.) that can secure a distance, and a contact charging or non-contact wireless charging function while staying at the station 200.

In addition, it goes without saying that the unmanned aerial vehicle 300 must have a performance capable of flying in a state in which a product or part to be produced is mounted in addition to the above functions. At this time, products or parts mounted on the unmanned aerial vehicle 300 may be mounted using a separate jig.

On the other hand, if the unmanned aerial vehicle 300 has a configuration capable of performing a collision avoidance function such as a camera, a sensor, a control device, etc., it may perform a flight for collision avoidance based on the control of the production line management server 100. It is possible to perform collision avoidance with other unmanned aerial vehicle 300 itself without need. However, in order for the unmanned aerial vehicle 300 to perform its own collision avoidance, it may be a significant burden on data processing for flight path search, so the flight path setting and collision avoidance based on the control of the production line management server 100 It is desirable to perform control.

The database 400 includes production plan information including the establishment of a process sequence of products to be produced using each station 200 provided in the production line, the arrangement of the stations 200 according to the process sequence, or a combination thereof, and the established process According to the order, the order of transporting products or parts used in the process between each station 200 using the unmanned aerial vehicle 300, the flight path of each unmanned aerial vehicle 300, collision avoidance information with other unmanned aerial vehicles 300, or The combined transfer plan information is stored and managed.

In addition, the database 400 stores and manages the operation results of each station 200, the transfer result of each unmanned aerial vehicle 300 through the flexible production line, and the like, and the station 200 and the unmanned aerial vehicle 300 ) To store and manage various operation programs and update information.

3 is a conceptual diagram for explaining the processing process of the transfer system using an unmanned aerial vehicle to which the present invention is applied.

As shown in Fig. 3, the production line management server 100 establishes a process plan for each station 200 provided in the production line (①), and based on the established process plan, the unmanned aerial vehicle 300 ) To establish a transfer plan for products or parts necessary for the process (②).

And when product production starts, the production line management server 100 generates a control command for mounting a product or part for performing a task to be performed at each station 200 and a next process, and It transmits the control command to each station 200 (③-1).

At this time, the control command for the work is unloading and moving of products or parts received through the unmanned aerial vehicle 300 from another station 200 to the work space, and an automation device or robot made in the work space of the station 200 It may include a control signal related to driving of.

In addition, the production line management server 100 is a control command for transferring products or parts located at the current station 200 to the station 200 to perform the next process to the unmanned aerial vehicle 300 located at each station 200 And transmits a control command related to transport to each unmanned aerial vehicle 300 (③-2).

At this time, the control command related to the transfer is a flight path including a departure station, a stopover station, and an arrival station, and may include a flight path for avoiding collision with another unmanned aerial vehicle 300 in the course of running through the flight path. For example, the production line management server 100 searches the flight path of all unmanned aerial vehicles 300 operated in the production line, and as a result of the search, horizontal movement from a specific point to each unmanned aerial vehicle 300 having a risk of collision. It is possible to provide a flight path reflecting the collision avoidance of whether to continue flying or whether to perform flight by vertical movement by adjusting the altitude.

Subsequently, each station 200 receiving a control command related to work and installation from the production line management server 100 performs a predetermined process and then transfers the product or part to the station 200 to proceed with the next process. To do this, a product or a component is mounted on the unmanned aerial vehicle 300 located at the corresponding station 200.

Then, the unmanned aerial vehicle 300 moves to the station 200 for performing the next process according to the flight path provided from the production line management server 100 (④). That is, the unmanned aerial vehicle 300 performs horizontal movement and vertical movement according to a predetermined flight path to avoid collision with other unmanned aerial vehicles 300 and fly to the destination station.

In this way, when the unmanned aerial vehicle 300 arrives at the station 200 to perform the next process based on the flight path provided from the production line management server 100, the unmanned aerial vehicle 300 moves from the origin station to the destination station. The movement result of (eg, time, flight route, arrival or not) is transmitted to the production line management server 100 (⑤-1).

In addition, in the station 200 that has received products or parts from the station that performed the previous process through the unmanned aerial vehicle 300, the product or components mounted on the unmanned aerial vehicle 300 are unloaded and moved to the work space. , Based on the control of the production line management server 100, a production process is performed in the work space through an automation device or a robot, and the work result is transmitted to the production line management server 100 (⑤-2).

In addition, the production line management server 100 checks the movement result and work result transmitted from each of the unmanned aerial vehicle 300 and the station 200, and the station 200 and the unmanned aerial vehicle according to the predetermined process until the production of the finished product. Each (300) production work and transfer are performed (⑥).

4 is a view showing in detail the configuration of the production line management server 100 according to an embodiment of the present invention.

As shown in Figure 4, the production line management server 100 is a production planning unit 110, a transfer planning unit 120, a station control unit 130, an unmanned aerial vehicle control unit 140, a communication unit 150, production It is configured to include a process check unit 160 and the like.

In addition, although not shown in the drawing, the production line management server 100 is an input unit for inputting data for various functions, an update management unit for managing updates of various operation programs, a display unit for displaying various data related to the production process, and a production process. It may additionally include a statistical processing unit that statistically processes the status of work on the vehicle or the status of unmanned aerial vehicle transport.

The production planning unit 110 establishes a process sequence of a product to be produced through a production line equipped with a plurality of stations 200, determines the arrangement of the stations 200 based on the established process sequence, and the establishment The process sequence of a product and the determined arrangement information of each station are stored and managed in the database 400.

At this time, the production planning unit 110 may change a process order or perform a rearrangement of a station whenever a product to be produced is changed.

The transfer planning unit 120 establishes a transfer plan of products or parts used in the corresponding process between each station 200 using the unmanned aerial vehicle 300 according to the process sequence established by the production planning unit 110 In addition, the established product or part transfer plan information is stored and managed in the database 400.

At this time, the transfer plan information may include the shortest flight path between the starting station and the destination station according to the process sequence of each unmanned aerial vehicle 300, collision avoidance information, and the like.

The station control unit 130 generates a control command for controlling the operation of each station 200 provided in the production line according to the process sequence, with reference to the process sequence established through the production planning unit 110, and , Transmits the generated control command to each station 200.

In addition, the station control unit 130 is an unmanned aerial vehicle located in the corresponding station 200 in order to transfer a specific product or part, which is a result of the work performed by each station 200, to the station 200 performing the next process. 300).

The unmanned aerial vehicle control unit 140 is composed of a path setting unit 141 and a path search unit 142, and controls the unmanned aerial vehicle 300 to perform flight according to a preset flight path. That is, to control the flight of the unmanned aerial vehicle 300 on which the product or component worked at the specific station 200 is mounted to the station 200 performing the next process.

When the route setting unit 141 uses the unmanned aerial vehicle 300 to transfer each product or component used in the production line between the stations 200, each unmanned aerial vehicle 300 is a starting station, a stopover, and Set the flight path including the coordinate information of the destination station.

In addition, if the unmanned aerial vehicle 300 having a risk of collision exists as a result of the search from the path search section 142, the path setting unit 141 is The flight path for the flight is reset, and the reset flight path is transmitted to the unmanned aerial vehicle 300 so as to avoid a collision in the flight process.

The path search unit 142 searches the flight paths of all unmanned aerial vehicles 300 currently in flight in the production line, and checks whether the unmanned aerial vehicle 300 having a collision risk exists at a specific point in time and coordinates as a result of the search, The checked result is provided to the path setting unit 141.

The communication unit 150 processes data communication between the production line management server 100 and each station 200 and the unmanned aerial vehicle 300. That is, transmission of control commands for each station 200-specific operation (ie, process progress, unmanned aerial vehicle loading or unloading of products or parts to be transferred, etc.) or control commands for flight for each unmanned aerial vehicle 300, each It is to process the reception of the result information performed by the station 200 and the unmanned aerial vehicle 300.

The production process check unit 160 is the process information including the current status of the work being performed from the respective stations 200 and the unmanned aerial vehicle 300 through the communication unit 150, the transfer status of products or parts, or a combination thereof Is delivered, and the process performance result is checked based on the process information.

In addition, the production process check unit 160 determines the progress of the next process based on the confirmed process performance result, and outputs the determined contents to the station control unit 130 and the unmanned aerial vehicle control unit 140.

5 is a diagram showing in detail the configuration of a station 200 according to an embodiment of the present invention.

As shown in FIG. 5, the station 200 includes a driving control unit 210, a task performing unit 220, a transfer unit 230, a charging unit 240, an upper plate unit 250, and the like.

In addition, although the station 200 is not shown in the drawing, a power supply unit for supplying operating power to each component, an input unit for inputting data for various functions, and data communication with the production line management server 100 can be performed. It may further include a communication interface unit and the like.

The driving control unit 210 performs a function of collectively controlling unit processes to be performed in the station 200 according to a control command received from the production line management server 100.

That is, unloading of a specific product or part transferred through the unmanned aerial vehicle 300 from the station 200 that performed the previous process based on the control command, moving the specific product or part to the work space and performing work, the next process It is to control the movement and mounting of the product or component to be transferred to the station 200 to proceed to the unmanned aerial vehicle 300.

The mechanism unit 220 is a mechanism including an automation device and a robot to perform a task required for product production installed in the work space provided in the station 200, the work space under the control of the drive control unit 210 Performs work for product production at

The transfer unit 230 is installed in the work space, and the products or parts performed in the work space are mounted on the unmanned aerial vehicle 300 located on the top plate 250, or the unmanned aerial vehicle located on the top plate 250 It performs a function of raising and lowering the product or parts unloaded from 300 to move to the work space.

The charging unit 240 charges the power used by the unmanned aerial vehicle 300 located on the upper plate unit 250.

At this time, the charging unit 240 performs charging of the unmanned aerial vehicle 300 located on the top plate 250 by a non-contact wireless charging method, or the unmanned aerial vehicle by a contact charging method connected through a charging terminal (not shown). The charging of 300 may be performed, and the current charging state of the unmanned aerial vehicle 300 may be checked and provided to the production line management server 100.

The top plate 250 is a part that performs a mooring function, such as a dock of a port, and is preferably provided on the upper portion of the station 200 so that the unmanned aerial vehicle can perform takeoff and landing smoothly, and at least one unmanned aerial vehicle 300 can stay.

In addition, the top plate 250 is provided with at least one sensor for confirming the take-off or landing of the unmanned aerial vehicle 300, and the charging unit 240 is provided so that when the unmanned aerial vehicle 300 lands, a non-contact type Alternatively, contact charging is possible.

Next, an embodiment of a method of operating a transport system using an unmanned aerial vehicle according to the present invention configured as described above will be described in detail with reference to FIGS. 6 to 8. At this time, the order of each step according to the method of the present invention may be changed by a use environment or a person skilled in the art.

6 is a flow chart showing in detail the operation of the smart indoor air purification method according to an embodiment of the present invention.

As shown in FIG. 6, the production line management server 100 establishes a work plan for product production of each station 200 provided in the production line (S100), and a manufacturing process between each station 200 with this Establish a transfer plan of each unmanned aerial vehicle 300 for the movement of products or parts according to (S200).

Thereafter, the production line management server 100 generates a control command for driving each station 200 based on the work plan for product production established through the step S100, and then sends the control command to each station 200 Transfer the product or part to the station 200 to perform the next process by processing the product or part received through the unmanned aerial vehicle 300 from the station 200 that performed the previous process In order to be able to mount the product or component on the unmanned aerial vehicle 300 (S300).

In addition, the production line management server 100 generates a control command for the flight of each unmanned aerial vehicle 300 based on the parts transfer plan using the unmanned aerial vehicle 300 established through the step S200, and then the control command Is transmitted to each unmanned aerial vehicle 300, so that each unmanned aerial vehicle 300 performs a flight between the stations 200 based on a preset flight path according to a process sequence (S400).

The step S400 will be described in more detail with reference to FIGS. 7 and 8 as follows.

7 is a diagram showing an embodiment of the process of transferring products or parts between stations of an unmanned aerial vehicle applied to the present invention, and FIG. 8 is a horizontal diagram for transferring products or components between stations of an unmanned aerial vehicle applied to the present invention. And a diagram showing an embodiment of vertical flight.

As shown in FIG. 7, when a product or part located in the work space at the departure station is mounted on the unmanned aerial vehicle 300 located above, the unmanned aerial vehicle 300 takes off from the corresponding station 200, and then the production It performs horizontal and vertical movement to the arrival station according to the flight path provided from the line management server 100.

When the unmanned aerial vehicle 300 lands at the arrival station through such a flight, the arrival station unloads the product or parts mounted on the unmanned aerial vehicle 300 and then transfers it to the work space.

At this time, the horizontal movement refers to moving along a horizontal plane formed above the station as shown in Fig. 8(a), and the vertical movement refers to moving along a vertical plane formed above the station as shown in Fig. 8(b). And horizontal and vertical movement may perform forward or backward flight in a right angle or a 45 degree diagonal direction.

In addition, the unmanned aerial vehicle 300 performs horizontal movement and vertical movement according to the flight path.If a collision with other unmanned aerial vehicles is expected on the plane, it moves vertically at a specific point in time and coordinates to avoid collision. can do. Of course, the flight path for collision avoidance is provided from the production line management server 100.

Referring back to Fig. 6, the production line management server 100 receives process information including the current status of work and the transfer status of products or parts from each of the station 200 and the unmanned aerial vehicle 300 through a network. , Check the process performance result based on the process information (S500).

Further, the production line management server 100 determines whether all processes according to product production have been completed (S600), and repeats the step S300 and subsequent steps until product production is completed.

As described above, the present invention uses an unmanned aerial vehicle between a plurality of stations to transfer products or parts necessary for production, so it is possible to maximize the flexibility and expandability of the production line by securing various transfer paths, and a flexible production line Can be easily carried out.

In addition, the present invention sets the shortest flight path for each unmanned aerial vehicle when a plurality of transfer operations are simultaneously performed during the operation of the unmanned aerial vehicle, and moves horizontally and vertically to avoid the risk of collision by searching the flight path of each unmanned aerial vehicle. Because it is controlled, it is possible to quickly and safely perform the transfer operation while avoiding a collision with other unmanned aerial vehicles.

As described above, the present invention has been described with reference to the embodiments shown in the drawings, but this is only exemplary, and various modifications and equivalent other embodiments are provided from those of ordinary skill in the field to which the technology pertains. You will understand that it is possible. Therefore, the technical protection scope of the present invention should be determined by the following claims.

100: production line management server 110: production planning unit
120: transfer planning unit 130: station control unit
140: unmanned aerial vehicle control unit 141: route setting unit
142: route search unit 150: communication unit
160: production process confirmation unit 200: station
210: drive control unit 220: mechanism unit
230: transfer unit 240: charging unit
250: upper plate 300: unmanned aerial vehicle
400: database

Claims (7)

A station control unit for controlling the operation of each station provided in the production line, and controlling the mounting of the product or part worked in the station to the unmanned aerial vehicle; And
Including; an unmanned aerial vehicle control unit for controlling the flight of the unmanned aerial vehicle equipped with the product or parts worked at the station to the station performing the next process; and
The unmanned aerial vehicle,
Fly according to a pre-set flight path, but by performing horizontal and vertical movement according to the flight path reset by the unmanned aerial vehicle control unit that performs flight path search for all unmanned aerial vehicles currently in flight on the production line, Transfer system using an unmanned aerial vehicle, characterized in that to avoid a collision. The method according to claim 1,
The unmanned aerial vehicle control unit,
When using the unmanned aerial vehicle to transfer each product or part used in the production line between stations, a route setting unit for setting a flight path including coordinate information of a starting station, a stopover, and a destination station for each unmanned aerial vehicle; And
Includes; a path search unit for searching the flight paths of all unmanned aerial vehicles currently in flight in the production line, and checking whether unmanned aerial vehicles having a risk of collision exist at a specific point in time and coordinates as a result of the search,
The path setting unit,
If an unmanned aerial vehicle with a risk of collision exists as a result of the search of the path search unit, an unmanned aerial vehicle characterized in that the unmanned aerial vehicle is configured to avoid a collision by resetting the flight path for horizontal and vertical movement at a specific point in time and coordinates Transfer system used. The method according to claim 1,
The transfer system,
A production planning unit that establishes a process sequence of products to be produced through a production line equipped with a plurality of stations, and determines an arrangement of the stations based on the established process sequence;
A transfer planning unit for establishing a transfer plan of products or parts used in a corresponding process between stations using the unmanned aerial vehicle according to the established process sequence; And
Receive process information including current work status, product or part transfer status, or a combination thereof from each of the station and unmanned aerial vehicle, check the process performance result based on the process information, and based on the confirmed process performance result Transfer system using an unmanned aerial vehicle, characterized in that it further comprises a; production process confirmation unit for determining the progress of the next process. The method according to claim 1,
The station,
A driving control unit controlling driving of the station based on a control command received from the station control unit;
A mechanism including an automation device and a robot installed in a work space of the station, comprising: a mechanism unit that performs a work for product production in the work space under control of the drive control unit;
A top plate provided at an upper portion so that the unmanned aerial vehicle can take off or land, and at least one sensor for confirming the take-off or landing of the unmanned aerial vehicle; And
And a transport unit installed in the work space to mount a product or component performed in the work space on the unmanned aerial vehicle or to move the product or component unloaded from the unmanned aerial vehicle to the work space. Transfer system using unmanned aerial vehicle. The method according to claim 4,
The station,
It further comprises a; charging unit for charging the power used of the unmanned aerial vehicle located on the upper plate,
The charging unit,
A transfer system using an unmanned aerial vehicle, characterized in that charging the unmanned aerial vehicle by a non-contact wireless charging method or by charging the unmanned aerial vehicle by a contact charging method connected through a charging terminal. A station control step of controlling, in the production line management server, an operation for each station provided in the production line, and controlling the mounting of an unmanned aerial vehicle of a product or part worked at the station; And
In the production line management server, the unmanned aerial vehicle control step of controlling the flight of the unmanned aerial vehicle equipped with the products or parts worked at the station to the station performing the next process; includes,
The unmanned aerial vehicle,
Fly according to the flight path set in advance, but by performing horizontal and vertical movement according to the flight path reset by the production line management server that performs flight path search for all unmanned aerial vehicles currently in flight on the production line, Transport system operating method using an unmanned aerial vehicle, characterized in that to avoid a collision of. The method according to claim 6,
The unmanned aerial vehicle control step,
In the production line management server, when each product or part used in the production line is transferred between stations using the unmanned aerial vehicle, a flight path including coordinate information of the origin station, the waypoint, and the destination station for each unmanned vehicle Path setting step to set; And
In the production line management server, a path search step of searching for flight paths of all unmanned aerial vehicles currently in flight in the production line, and confirming whether unmanned aerial vehicles with a risk of collision exist at a specific time point and coordinates as a result of the search; and
The path setting step,
If there is an unmanned aerial vehicle having a risk of collision as a result of the search, the unmanned aerial vehicle further comprises resetting flight paths for horizontal and vertical movement of the unmanned aerial vehicles at a specific point in time and coordinates, thereby avoiding a collision. How to operate the transfer system using.

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