KR20210085982A - Automatic guided vehicle for logistics automation - Google Patents

Abstract

According to the present invention, provided is an unmanned transport vehicle, which should be a controller which can be flexibly applied to the diversifying AGV specifications. The unmanned transport vehicle is easily compatible with automated production process networks, and a user needs an uncomplicated interface structure. The unmanned transport vehicle is suitable for a clean process which minimizes dust, should be developed so that it can be linked with products which can lower the failure rate and the MES, and can satisfy the same.

Description

AUTOMATIC GUIDED VEHICLE FOR LOGISTICS AUTOMATION

The present invention relates to an unmanned vehicle. More specifically, it relates to an unmanned vehicle for logistics automation.

AGV (Automatic Guided Vehicle), an unmanned transport vehicle, started to be introduced into the textile industry of developed countries in the 1960s, and has been reinforced in various forms and functions along with the development of semiconductors and sensors. The scope of its application, such as services, is rapidly expanding, and the unmanned transport vehicle is a representative device for logistics transport and has excellent flexibility.

It is attracting attention as an indispensable major device in multi-variety small-volume production systems, such as FMS and CIM. Compared to conveyors and mono rails, AGV has excellent flexibility and scalability and low price. It is necessary to research advanced technologies and develop intelligent products in which position control, loading and unloading, induction control, driving mechanism, communication, and system building technology are integrated.

Domestic Patent Application No. 10-2013-0164499 discloses the ability to horizontally correct and support an inclined unmanned vehicle by installing an outrigger, and domestic patent application No. 10-2014-0083124 discloses an unmanned vehicle. Disclosed is an automatic charging system for a transport vehicle.

However, AGV manufacturers and automated processes using AGVs have the following requirements. It should be a controller that can be flexibly applied to the changing AGV specifications, and it is easy to use an uncomplicated interface structure while being easily compatible with the automated production process network. It is necessary to develop a product that is suitable for a clean process that minimizes dust, and to be linked with a product that can lower the failure rate and MES, and there is an urgent need to develop an unmanned transport vehicle that satisfies this.

The problem to be solved by the present invention is to be a controller that can be flexibly applied to the diversifying AGV specifications, is easily compatible with the automated production process network, requires a user with an uncomplicated interface structure, and a clean process with minimal dust It should be developed to be compatible with MES and products that can lower the failure rate and to provide an unmanned transport vehicle that satisfies this.

In order to solve the above problems, the unmanned transport vehicle for logistics automation needs to be a controller that can be flexibly applied to the diversifying AGV specifications, is easily compatible with the automated production process network, and requires a user with an uncomplicated interface structure and , It is developed to be compatible with the MES and products that can reduce the failure rate by being suitable for the clean process with minimal dust.

In example embodiments, the SPOT and MECANUM WHEEL driving modes may be combined and connected to the MES.

The current smart factory distribution is centered on software, and our company is going to have the technology to develop hardware parts that are suitable for production sites. According to the unmanned transport vehicle for logistics automation of the present invention, work efficiency is improved by providing a low-cost Smart AGV solution, and it is helpful for manpower reduction, and also the profit of the company will increase by quickly and accurately processing the logistics task with a small number of manpower. It is expected.

1 is a block diagram showing an automated production process AGV network system.
2 is a perspective view of an assembled unmanned transport vehicle.
3 is a photograph of a driving test of an unmanned transport vehicle.
4 to 6 are views for explaining the control of the unmanned transport vehicle.

With respect to the embodiments of the present invention disclosed in the text, specific structural or functional descriptions are only exemplified for the purpose of describing the embodiments of the present invention, and the embodiments of the present invention may be embodied in various forms. It should not be construed as being limited to the embodiments described in .

Since the present invention can have various changes and can have various forms, specific embodiments are illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed form, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms may be used for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.

When a component is referred to as being “connected” or “connected” to another component, it is understood that the other component may be directly connected or connected to the other component, but other components may exist in between. it should be On the other hand, when it is mentioned that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle. Other expressions describing the relationship between elements, such as "between" and "immediately between" or "neighboring to" and "directly adjacent to", should be interpreted similarly.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that the described feature, number, step, operation, component, part, or combination thereof exists, and includes one or more other features or numbers. , it is to be understood that it does not preclude the possibility of the presence or addition of steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as meanings consistent with the context of the related art, and unless explicitly defined in the present application, they are not to be interpreted in an ideal or excessively formal meaning. .

1 is a block diagram showing an automated production process AGV network system. 2 is a perspective view of an assembled unmanned transport vehicle. 3 is a photograph of a driving test of an unmanned transport vehicle. 4 to 6 are views for explaining the control of the unmanned transport vehicle.

In Korea, AGV development began in the late 1980s, centered on a few large companies that had technical alliances with foreign countries. At the beginning, the developed products were generally introduced in their own factories on a trial basis. The logistics industry is emerging as a future core industry, with the introduction of robot technology for logistics innovation and logistics efficiency determining the industrial competitiveness of each country as its own model has been developed and released to the market, and the needs of the times are expanding to small and medium-sized enterprises. of AGV has arrived.

Many are looking for a controller that can be flexibly applied to the diversifying AGV specifications. Industrial sites are demanding various AGV specifications with different shapes, steering methods, and induction methods depending on the process. and various software.

It is easily compatible with the automated production process network, and the uncomplicated interface structure and the latest production process automation and unmanned systems integrate the entire production process, such as product design, production planning, and production management. It is developed to directly control the MES solution.

The main controller, which manages the entire process, and the production equipment of the detailed processes are connected through a network to unify control and management, and the production process at industrial sites is being unmanned and automated under the concept of distributed control and centralized management.

The current system is being mass-produced repeatedly from circuit design to implementation when ordering depending on the situation of the factory and the user's request, so it is necessary to standardize the parts that are used repeatedly and modularize each part and use it organically.

1 to 6 , in the case of an existing board, there is a limitation in the amount of control of two driving motors and a device (hydraulic/motor) for linked operation, and 4 driving motors and 4 safety sensors to improve this Control of open and linked operating devices (hydraulic/motor) is required, and it is necessary to develop a control board with high processing speed and contacts that can be connected to various communication (PIO/WIFI) systems.

In order to improve the maneuvering speed and control, it is necessary to develop a guide sensor that has responsiveness and accuracy and can detect all directions.

The existing SPOT driving program is based on front and rear driving, and uses a program that has directionality with the wheel's rotation ratio, but a new program is needed for MECANUM WHEEL that performs various direction changes.

The slip phenomenon occurring on the wheel and the floor causes data loss, and this loss leads to shaking or derailment of the unmanned vehicle. To solve this problem, the development of a driving module in which the grounding of the four wheels is evenly distributed I need this.

Referring back to FIGS. 4 to 6 , the ACS transmits a status information request and an operation instruction every predetermined time (0.5 to 1 second), and the AGV responds to an information response and an operation instruction to a request from the ACS. is sent to the ACS.

Again, the ACS monitors the AGV by referring to the response transmission from the AGV, and the communication module uses (AGV)RS232 <-> Ethernet(ACS) (the maximum communication speed is 115200bps).

Each operation is configured to recognize the ND (neodymium) magnetic after recognizing the RFID tag and perform the operation at the center of the ND magnetic.

The stop position recognizes the RFID TAG and operates after it has passed, so the operation cannot proceed with the RFID TAG value of the current position. When an operation is attempted, a command is sent based on the RFID tag to be recognized next.

As for the contents of the first driving algorithm, the RFID tag and magnetic tape are buried in the production floor, and when the tag is recognized at 2-1 point, the next magnetic tape is found, so the driving algorithm knows the direction and the part to turn.

The advanced driving algorithm has high RFID tag location and magnetic tape scalability. The application of the ship driving algorithm is simple, and the design can be changed according to the extension and the shape of the line.

Enter the IP and PORT of the AGV in IP and PORT and click the connect button to make a TCP connection to the AGV currently connected to the same router.

Claims (2)

It should be a controller that can be flexibly applied to the diversifying AGV specifications, is easily compatible with the automated production process network, requires a user with an uncomplicated interface structure, and is suitable for a clean process with minimal dust, which can lower the failure rate. An unmanned transport vehicle for logistics automation that must be developed to be linked with products and MES, and satisfy this. The unmanned transport vehicle according to claim 1, wherein the SPOT and MECANUM WHEEL driving modes are combined and connected to the MES.

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