TW201925052A - Apparatus for controlling line guide of automatic material handling system and the method thereof having the set length of the optical lines be set longer than that in the prior art - Google Patents

Abstract

The present invention relates to an apparatus for controlling line guide of automatic material handling system and the method thereof. Specifically, an optical line is set up at a convergence point where multiple lines converge. When multiple unmanned vehicles enter the convergence point at the same time, the unmanned vehicles are allowed to sequentially pass according to a preset priority order, thereby preventing the unmanned vehicles from colliding at the convergence point. Since the present invention configures the optical line using optical fibers featuring side illumination, therefore, it is possible to control the simultaneous convergence of a plurality of unmanned transfer devices on the same line, and it is easy to set the optical lines even in a curved section. The set length of the optical lines can be set longer than that in the prior art. The unmanned transfer devices can enter and pass through the convergence point at the maximum running speeds. When it decelerates and stops at the convergence point to perform the waiting operation, the optical line can be set longer than the stopping distance, so that the unmanned transfer device can smoothly complete the running process.

Description

Line guiding control device for automatic handling system and method thereof

The present invention relates to a line guiding control device for an automatic handling system and a method therefor. Specifically, an optical line is set up at a meeting point where a plurality of lines meet, and when a plurality of unmanned vehicles enter the meeting place at the same time, the unmanned vehicles are sequentially passed in accordance with the set priority order, thereby preventing unmanned persons. A collision occurs between the transferred vehicles at the meeting point.

Generally, in the production process of a semiconductor element or a liquid crystal display device, an article to be manufactured is moved to a manufacturing facility of each production process using an Automated Material Handling System (AMHS), and the related articles are manufactured in accordance with each manufacturing process. The device's program is completed. The automatic transport system transfers a carrier in which a semiconductor substrate or a liquid crystal substrate is housed to each manufacturing device installed in a production line by an unmanned transfer device, and then re-stocks the articles that have completed the corresponding programs in the relevant manufacturing equipment. Transfer it to the manufacturing facility of the next process.

The unmanned transfer device includes: an AGV (Automated Guided Vehicle) that relies on automatic wheel travel; an RGV (Rail Guided Vehicle) that travels along a rail provided on the ground; and travels along a guide rail that is placed on the ceiling, depending on the mode of movement. OHT (Overhead Hoist Transport). This unmanned transfer device utilizes itself The wheels are either moved along the rails placed on the ground or the rails placed on the ceiling to the relevant manufacturing equipment, and then the work arms or hoist and grippers are used to transport/port the transport to the relevant manufacturing equipment.

In this case, the unmanned transfer means on the mutually different paths must pass through the place without collision at the point where the plurality of guide rails meet.

According to the prior art, an optical communication device is disposed at the entrance and the unmanned transfer device, and a receiving device is disposed at the exit, and optical communication is performed between the unmanned transfer device and the central control device to confirm whether or not to enter the convergence. Location to prevent collisions.

However, the above-mentioned composition for preventing collision at the meeting point can only communicate in one area. Therefore, when the unmanned transfer device stops in the middle of the meeting place due to a failure, it may collide with the subsequent unmanned transfer device, and must always move at a low speed near the communication sensor of the entrance, and one track can only make one unmanned person. The transfer device enters.

Further, according to the prior art, in order to prevent a collision between the unmanned transfer devices at the meeting point, a communication relay device is provided on the merge path where the tracks on which the unmanned transfer device travels meet. At the same time, in order to manage the operation of the plurality of unmanned transfer devices in the junction, a management device that generates operation command information by wireless communication is provided between the communication relay device and the communication device on the unmanned transfer device side.

However, in the above-described configuration, the collision between the unmanned transfer devices is prevented at the meeting place, and it is necessary to provide an antenna capable of wireless communication according to the respective paths on each of the merge paths. Therefore, it is difficult to install not only the antenna, but also the antenna that matches the curve in the curve section of the track.

It is an object of the present invention to provide a line guidance control apparatus for an automatic handling system and method therefor. An optical line with a side-emitting optical fiber is disposed on the line at the meeting place. When a plurality of unmanned transfer devices simultaneously enter the meeting place, the "pass control signal" is output to each unmanned transfer device according to the set priority order to determine that it can Passing or not passing, it is possible to prevent collisions between the unmanned transfer devices at the meeting point.

In an embodiment, the line guiding control device of the automatic handling system is configured to prevent collision between the unmanned transfer devices in an automatic handling system for transporting the transport between the various manufacturing devices by the unmanned transfer device, characterized in that The utility model comprises: a plurality of optical lines, wherein a line of the light-emitting fibers is arranged in the entire section of the line where the plurality of lines meet at the moving line of the unmanned transfer device, and the optical communication is performed by one side of the optical fiber and the unmanned transfer device, and the optical fiber is One end is connected to the main convergence control device to perform optical communication between the unmanned transfer device on the relevant line moving over the entire section of the line provided with the optical fiber and the main convergence control device; the main convergence control device is disposed at the meeting point, Optical communication with the unmanned transfer device by the optical line to confirm the entry status and the completion status of the unmanned transfer device for the meeting point, when a plurality of unmanned transfer devices enter the meeting place, according to the set priority order Each unmanned transfer device output is available for pass or fail a control signal; and a secondary convergence control device disposed on the unmanned transfer device, wherein the optical line communicates with the main merge control device to notify an entry state and a pass completion state for the meeting point, and according to The unmanned transfer device performs an entry action or a wait action by the control signal.

The present invention is characterized in that the main convergence control device further includes: a wireless communication unit that, when the optical communication connection is released in the interrupted section of the optical line, when the plurality of unmanned transfer devices enter the meeting place, according to Set the priority order to each The human transfer device wirelessly outputs a pass control signal that can pass or fail, and the merge control device further includes: a wireless communication unit that wirelessly communicates with the main merge control device to notify the entry status and the pass for the merged place The status is completed, and the unmanned transfer device performs an enter action or a wait action according to the pass control signal, and after collecting the status information of the main merge control device, reports the collected status information to the main control system.

In this case, the present invention is characterized in that the wireless communication unit of the main convergence control device transmits its own unique ID to the wireless communication unit of the secondary convergence control device at the initial stage of entering the optical line, thereby setting the wireless communication connection. .

The optical circuit includes: an optical fiber for side-emitting; a reflector having a shape corresponding to an outer surface of the optical fiber, and an inner storage space formed to fix the optical fiber to prevent it from being detached; The light is disposed on the opposite side of the reflector to transmit light emitted or emitted from the optical fiber to one side; the optical coupler is disposed at one end of the optical fiber, and is connected to the main convergence control device. The secondary convergence control device performs optical communication; and a mirror disposed at the other end of the optical fiber to reflect light.

The invention is characterized in that the reflector has a side mirror structure.

The invention is characterized in that the optical coupler comprises: fixing means for fixing the optical fiber to prevent it from falling off; guiding means for guiding the side reflection path and the insertion path of the optical fiber; and the stopper, according to the set The length limits the insertion depth of the optical fiber; the integrated board includes a light-emitting portion and a light-receiving portion that optically communicate with the optical fiber, a driving circuit that supplies a driving pulse for driving the light-emitting portion, and a light-receiving portion to be driven by the light-receiving portion And an amplifying circuit for amplifying the output of the optical signal; and a side mirror disposed at a front end of the integrated board to enhance the light effect of the light emitting portion and the light receiving portion.

The invention is characterized in that the inside of the stopper is treated with a mirror.

The present invention is characterized in that the main convergence control device includes: a power supply portion that supplies a driving power source; an LED driving portion that outputs a driving pulse signal for driving the optical coupler; and a receiving demodulating portion that is to be coupled by the light The analog signal received by the device is demodulated into a digital signal; a status display portion that displays status information including a power status, a communication status, an error status, and a connection status; and a processor that enters or passes through the convergence location The unmanned transfer device performs confirmation and performs a line guidance control algorithm for preventing collision between the unmanned transfer devices, and performs various control operations for the LED drive unit, the reception demodulation unit, the status display unit, and the power supply unit.

The present invention is characterized in that the main convergence control device further includes a transceiver that is connected to a serial port including RS-232 or RS-422 for data transmission.

The present invention is characterized in that the secondary convergence control device includes: at least one optical communication module including a light emitting portion and a light receiving portion for optical communication by the optical fiber; and a communication control module by the The optical communication module performs optical communication with the main convergence control device to generate an entry notification signal or a completion signal for the convergence point, and determines an entry operation or a waiting operation of the unmanned transfer device based on the control signal of the primary convergence control device.

The present invention is characterized in that the communication control module includes: a power input/output unit that performs input and output of a driving power source; and an optical transmission unit that outputs a driving signal for driving the light emitting unit, and receives the driving signal from the light receiving unit The analog signal is demodulated into a digital signal; the status display unit displays status information including a transmission state of the signal, a power state, a communication connection state, an error of each optical communication module, and a communication state; and a processor that generates separately The entry notification signal and the completion signal control the entry operation of the unmanned transfer device according to the control signal or decelerate to the unmanned transfer device. The subsequent waiting operation is controlled, and various control operations for the optical transmission unit, the state display unit, and the power input/output unit are executed.

The invention is characterized in that the communication control module further comprises: a transceiver, which is connected to the serial port comprising RS-232 for data transmission.

In an embodiment, the line guidance control method of the automated handling system is for preventing collisions between the unmanned transfer devices in an automated handling system for transporting the transport between the various manufacturing devices by the unmanned transfer device, characterized by including The following steps: in the line where the unmanned transfer device moves, the line connecting the intersections of the plurality of lines is provided with a side-emitting optical fiber, thereby forming an optical line, and the unmanned transfer device moves on the optical path, and the entire optical line The section performs the step of transmitting the state and the completion state information to the main convergence control device by optical communication on the optical fiber side; the main convergence control device disposed at the convergence site is connected to the optical fiber end of the optical line to perform optical communication The step of confirming the entry state of the unmanned transfer device and the completion state by the optical fiber disposed on the light path at the meeting place; the main merge control device confirms the entry state of the new unmanned transfer device by the optical fiber of the optical line After that, it is executed and set on the new unmanned transfer device. The step of performing the optical communication connection function by the secondary convergence control device; the primary convergence control device determines whether the new unmanned transfer device enters the meeting place, and outputs the optical fiber to all the unmanned transfer devices at the meeting place according to the set priority order. a step of passing a control signal through or not passable; when the secondary convergence control device receiving the pass control signal receives a pass control signal that can pass, performing an entry action of the unmanned transfer device itself, when receiving an unpassable pass When the signal is controlled, the step of the waiting operation of adjusting the traveling speed of the unmanned transfer device itself is performed.

The present invention is characterized in that, when entering the optical line, the secondary convergence control device generates an entry notification signal for notifying the entrance to the convergence point, and when the optical line is passed, The student informs the completion signal through the passing of the meeting place.

The present invention is characterized in that, in the process of passing the unmanned transfer device through the meeting place, the main merge control device continues to confirm whether the new unmanned transfer device enters the meeting place by optical communication.

The present invention is characterized in that, in the interruption section of the optical line, when the optical communication connection is released, the main convergence control device transmits the wireless communication with the secondary convergence control device of the unmanned transmission device at the initial stage of entering the optical circuit. a step of performing a wireless communication connection function by itself; the main convergence control device confirms the entry status of the unmanned transfer device by wireless communication, and according to the set priority order according to whether the new unmanned transfer device enters the meeting place And generating a pass control signal for the unmanned transfer device to pass or fail; and when the secondary merge control device receiving the pass control signal receives the pass control signal that can pass, performing an unmanned transfer device itself entering the action, When a pass control signal that is not passable is received, a step of waiting for an adjustment speed of the unmanned transfer device itself is performed.

The present invention is characterized in that it further includes the following steps: the convergence control device performs wireless communication with the primary convergence control device, collects status information of the primary convergence control device, and reports the collected status information to the main control system. A step of.

According to the automatic guidance system line guidance control device and method of the present invention, since the optical line is disposed using the side-emitting optical fiber, it is possible to control the simultaneous convergence of the plurality of unmanned transfer devices on the same line, even in the curved section. It is easy to set the optical line, and the set length of the optical line can also be set longer than the prior art, thereby enabling the unmanned transfer device to enter and pass through the meeting point at the maximum traveling speed, and when the deceleration stop at the meeting place stops performing the waiting action, Set the optical line more than the stop distance Long, so that the unmanned transfer device can successfully complete the driving process.

Further, the present invention can not only perform the convergence control stably, but also ensure that the wireless communication function can be performed in the interruption section of the optical line or the section in which the optical communication connection cannot be performed, thereby performing the control action that can or cannot pass through the convergence point, and even if not By setting other communication devices, it is also possible to collect state information of the main convergence control device by wireless communication and report to the main control system, thereby enabling integrated management of the main convergence control device.

20‧‧‧Unmanned transfer device

110‧‧‧Main Confluence Control Unit

111‧‧‧Main Confluence Control Unit

111a‧‧‧LED Driver

111b‧‧‧ Receiving Demodulation Department

112‧‧‧Status display

113‧‧‧ Processor

114‧‧‧ transceiver

115‧‧‧Power Supply Department

116‧‧‧Wireless Communications Department

200‧‧‧ confluence control devices

210‧‧‧Communication Control Module

211‧‧‧Light Transmission Department

212‧‧‧Status Display Department

213‧‧‧Power input and output

214‧‧‧ transceiver

215‧‧‧ processor

216‧‧‧Wireless Communications Department

220‧‧‧Optical communication module

220a‧‧‧1st optical communication module

220b‧‧‧2nd optical communication module

221‧‧‧Lighting Department

222‧‧‧Receiving Department

250‧‧‧Power and control cables

300‧‧‧ fiber

310‧‧‧reflector

320‧‧‧Optocoupler

321‧‧‧Lighting Department

322‧‧‧ drive circuit

323‧‧‧Receiving Department

324‧‧‧Amplification circuit

330‧‧‧Translucent body

340‧‧‧Mirror

510‧‧‧Fixed devices

520‧‧‧Guide

530‧‧‧stopper

540‧‧‧ integrated board

1 is a schematic view showing the configuration of an automatic guidance system line guidance control device according to an embodiment of the present invention; and FIGS. 2(a) and (b) are schematic views showing the installation state of the optical line shown in FIG. 1. FIG. FIG. 1 is a schematic diagram showing a state of line setting of a primary merge control device and a secondary merge control device; FIG. 4 is a schematic view showing a state in which an automatic transfer system line guidance control device according to an embodiment of the present invention is disposed on a factory production line; 5 is a block diagram showing a configuration of a main convergence control device shown in FIG. 1. FIG. 6 is a schematic diagram showing a configuration of the optical coupler shown in FIG. 5. FIG. 7 is a block diagram showing a configuration of the secondary convergence control device shown in FIG. 8(a) and 8(b) are schematic views showing the appearance of the secondary convergence control device shown in Fig. 7. Fig. 9 is a flow chart showing the automatic guidance system line guidance control method according to an embodiment of the present invention; 10a(a) to (d) and Figs. 10b(e) to (g) are diagrams showing the control of the unmanned transfer device at the meeting point by optical communication between the main merge control device and the secondary control merge device shown in Fig. 9. FIG. 11 is a schematic diagram showing a state in which optical communication is performed without collision between the main convergence control device and a plurality of secondary control convergence devices located on the optical line at the meeting point.

The description of the present invention is merely illustrative of the structure and function of the embodiments. Therefore, the scope of the invention is not limited to the embodiments set forth herein. That is, the embodiment can be variously modified and can have various forms. Therefore, the scope of the invention should be construed as including the equivalents of the embodiments of the invention. In addition, the objects and effects of the present invention are not intended to imply that the specific embodiments include all of the objects and effects. Therefore, the scope of the invention is not limited by the specific embodiments.

In addition, the meaning of the terms used in the present invention should be understood as follows.

The terms "first" and "second" are used to distinguish one component from another component, and these terms do not limit the scope of the invention. For example, the first component element can be named as the second component element. Similarly, the second component element may be named as the first component element.

When a certain component is referred to as "connected" to another component, it should be understood that it may be directly connected to other components or may have other components in the middle. On the contrary, when referring to a component that is "directly connected" to other components, it should be understood that there are no other components in the middle. In addition, other expressions describing the relationship between the constituent elements, that is, "~ between" and "is between ~" or "adjacent to" and "directly adjacent to" should also be interpreted in the same way. .

As long as there is no other explicit meaning in the article, the singular expression should be understood to include the plural. Terms such as "include" or "have" should be understood as The existence of features, digits, steps, actions, components, components, or combinations thereof that are described in the specification does not preclude the existence of one or more other features or digits, steps, acts, components, components, and combinations thereof. Other possibilities.

For each step, the identification symbols (for example, a, b, c, etc.) are used for convenience of explanation, and the identification symbols do not indicate the order of the respective steps, and each step can be described in addition to the specific order. The order is different. That is, the individual steps may be performed in the order described, or may be performed simultaneously, or may be performed in the reverse order.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention pertains, unless otherwise defined. The terms defined in the commonly used dictionary should be interpreted in the same meaning as the related art articles, and as long as they are not clearly defined in the present invention, they cannot be understood in an ideal or excessive form.

1 is a schematic view showing the configuration of a line guiding control device for an automatic handling system according to an embodiment of the present invention, FIG. 2 is a schematic view showing an installation state of the optical line shown in FIG. 1, and FIG. 3 is a view showing a main convergence control shown in FIG. A schematic diagram of a line setting state of the apparatus and the secondary convergence control apparatus, and FIG. 4 is a schematic diagram showing a state in which the automatic guidance system line guidance control apparatus is disposed on the factory production line according to an embodiment of the present invention.

As shown in FIGS. 1 to 4, the automatic conveyance system line guidance control device includes a plurality of optical lines OL1, OL2, OL3, OL4 disposed at a meeting point, a main convergence control device 110, and a secondary convergence control device 200.

The optical lines OL1 to OL4 are provided with optical fibers 300 having a set length (for example, about 1200 mm) on each of the lines of the convergence point A where the two lines meet in the line on which the unmanned transfer device 20 moves. The optical lines OL1 to OL4 use the side light-emitting optical fiber 300, To ensure that optical communication can be performed by one side. That is, the light-transmitting body 330 for fixing the optical fiber 300 is provided on the reflection cover 310 fixed to the light path, and the light-transmitting body 330 can perform optical communication.

As shown in FIG. 2, the optical lines OL1 OL OL4 include a reflector 310, a light transmitting body 330, an optical coupler 320, and a mirror 340.

The reflector 310 has a shape corresponding to the outer surface of the optical fiber 300, and an inner housing space is formed to prevent the optical fiber 300 from being detached from the optical path. The reflection cover 310 is formed in a bucket shape to ensure that the optical fiber can be easily disposed, and the efficiency of light transmission and light reception can be improved. The reflector 310 has a side mirror structure to ensure that the light effects of the light-emitting portion and the light-receiving portion can be enhanced.

The light transmitting body 330 is disposed on the opposite side of the reflecting cover 310 to ensure that light incident or emitted from the optical fiber can be reflected toward the side of the reflecting cover 310.

The optical coupler 320 is disposed at one end of the optical fiber and is electrically connected to the main convergence control device 110 so as to be optically communicable with the secondary convergence control device 200.

The mirror 340 is disposed at the other end of the optical fiber 300 for reflecting the light emitted from the optical coupler 320 and the first and second optical communication modules 220a and 220b so as not to be emitted from the end of the optical fiber, thereby generating Enhance the effect of optical signal strength.

Such an optical line is not only easy to set in a straight section of a certain length or more, but also easily set in a curved section. In general, in order to realize optical communication of a certain length, a configuration in which a light guide plate is provided can be considered. At present, since the light guide plate can only be processed to a maximum length of about 2 m, when a certain length is required, a method of connecting a plurality of light guide plates is adopted to realize the setting of the optical line. However, the method of providing an optical line by connecting the light guide plates has a large loss of light in the light guide plate connection section. Therefore, it is difficult to realize the arrangement of the optical line in a long section or a curved section of a certain length or more. The invention by means of Fiber optics can easily solve this problem.

Further, in the present invention, the set length of the optical line is set longer than the existing set length, and when there is no other unmanned transfer device at the meeting place, the unmanned transfer device 20 can enter and pass the meeting point at the maximum traveling speed even if In the case where the waiting position is decelerated and stopped at the meeting point, the traveling flow of the unmanned transfer device 20 may be made smooth by setting the optical line longer than the stopping distance. For example, for a system in which an optical line is disposed using a light guide plate having a maximum length of 2 m and is applied to an unmanned transfer vehicle moving at 5 m/sec, the deceleration distance of the unmanned transfer vehicle is required to be about 5 m or more. Therefore, it is necessary to start deceleration from the position before the optical line is set. This unconditional deceleration at the meeting point is the cause of the reduced efficiency of the entire system, and ultimately cannot be applied to the logistics system of unmanned moving vehicles that are gradually increasing in speed. That is, in the present invention, it is possible to provide an optical line having an unlimited length by using an optical fiber. Therefore, the length of the optical line is appropriately set in consideration of factors such as the speed of the unmanned vehicle and the position of the meeting place in the system, thereby ensuring unmanned transfer. The vehicle can travel at a high speed without decelerating even when entering the meeting place.

The main convergence control device 110 is disposed on one side of the optical lines OL1 to OL4, and outputs a pass control signal to the unmanned transfer device 20 entering the merged point A by optical communication in accordance with the set priority order. In order to transmit optical signals for two lines Lane1, Lane2, the main convergence control device 110 is equipped with four cymbals (Lane1-1埠, Lane1-2埠, Lane2-1埠, Lane2-2埠).

The secondary convergence control device 200 is provided on the unmanned transfer device 20, performs optical communication with the main merge control device 110, and causes the unmanned transfer device 20 to perform an entry operation or a wait operation to the merged point A based on the control signal.

The secondary convergence control device 200 includes: a communication control module 210, The first and second optical communication modules 220a and 220b. The communication control module 210 is electrically connected to the first and second optical communication modules 220a and 220b.

The communication control module 210 performs an optical communication connection function when entering the meeting place A, performs an optical communication connection releasing function when the meeting point A is merged, and transmits an entry notification signal to the unmanned transfer device 20 to notify whether or not to enter the meeting place A, thereby reflecting The entry or waiting action of the unmanned transfer device 20 is in progress.

Fig. 5 is a block diagram showing a configuration of a main convergence control device shown in Fig. 1, and Fig. 6 is a view showing a configuration of the optical coupler shown in Fig. 5.

As shown in FIGS. 5 and 6, the main convergence control device 110 includes an LED drive unit 111a, a reception demodulation unit 111b, a status display unit 112, a processor 113, a transceiver 114, a power supply unit 115, and a wireless communication unit 116. The main merge control device 110 is connected to the optical coupler 320 by a power supply and control cable.

The LED drive unit 111a outputs a drive pulse signal for driving the light-emitting unit 321 of the photocoupler 320, and the reception demodulation unit 111b demodulates the analog signal received by the light-receiving unit 323 of the photocoupler 320 into a digital signal.

The LED drive unit 111a and the reception demodulation unit 111b constitute a communication circuit 111 that optically communicates with the optical coupler 320. The number of the communication circuits 111 is the same as the number of optical couplers 320 connected by a cable.

The status display unit 112 displays status information such as a power status, a communication status, an error status, and a sequence connection status.

The processor 113 incorporates a line guidance control algorithm to prevent collisions between the unmanned transfer devices 20 by confirming the unmanned transfer device 20 entering or passing through the meeting point A.

The transceiver 114 is connected to a serial port such as RS-232 or RS-422. Transmission of materials.

The power supply unit 115 supplies power required for driving the main merge control device 110.

The wireless communication unit 116 collects status information of the primary convergence control device 110 and transmits it to the host control system. In the optical line interruption section in which the optical line cannot be set, when the optical communication connection is released, the pass control signal is output to the unmanned transfer device 20 entering the meeting place by wireless communication in accordance with the set priority order.

Further, the photocoupler 320 includes a light-emitting portion 321, a light-receiving portion 323, a drive circuit 322 that supplies a drive pulse to drive the light-emitting portion 321, and an amplifier circuit 324 that amplifies and outputs an optical signal by the light-receiving portion 323.

As shown in FIG. 6, the optical coupler 320 includes a fixing device 510, a guiding device 520, a stopper 530, and an integrated board 540.

The fixing device 510 fixes the optical fiber 300 to prevent it from coming off, and the guiding device 520 guides the side reflection path of the optical fiber 300 and the insertion path of the optical fiber 300.

The function of the stopper 530 is to define the depth in which the optical fiber 300 is inserted into the optical coupler 320 to a certain standard. In order to improve the light reflection efficiency, the inside is treated with a mirror.

The integrated board 540 is formed by integrating the light-emitting portion 321 and the light-receiving portion 323 to ensure that one optical fiber 300 can be used. The integrated board 540 includes a light emitting unit 321 , a light receiving unit 323 , a driving circuit 322 , and an amplifying circuit 324 .

Further, a side mirror (not shown) is provided at the front end of the integrated board 540, and the light effect of the light-emitting portion 321 and the light-receiving portion 323 can be enhanced.

Fig. 7 is a block diagram showing the configuration of the secondary convergence control device shown in Fig. 1, and Fig. 8 is a view showing the appearance of the secondary convergence control device shown in Fig. 7.

As shown in FIG. 7 and FIG. 8, the secondary convergence control device 200 mounts the light receiving unit 222 and the light emitting unit 221 on the first and second optical communication modules 220a and 220b. The communication control module 210 includes an optical transmission unit 211, a status display unit 212, a power input/output unit 213, a transceiver 214, a processor 215, and a wireless communication unit 216. The communication control module 210 and the first and second optical communication modules 220 are electrically connected by a power supply and a control cable 250.

The light transmission unit 211 outputs a drive pulse for driving the light-emitting unit 221, and demodulates the analog signal received by the light-receiving unit 222 into a digital signal.

The status display unit 212 performs information such as a signal transmission/reception state, a power supply state, a communication or cable connection state, an error/communication state of the first optical communication module 220a, and an error/communication state of the second optical communication module 220b. display.

The power input/output unit 213 is responsible for input and output of a 24V power supply, and the transceiver 214 is connected to a sequence of RS-232 or the like to transmit data.

The processor 215 generates an entry notification signal notifying whether to enter the merge point A and a pass completion signal notifying the end state of the merge point A, and causes the unmanned transfer device 20 to perform an enter or wait action by receiving the control signal.

The wireless communication unit 216 receives the pass control signal by wireless communication with the wireless communication unit 116 of the main convergence control device 110 when the optical communication is interrupted, and transmits the incoming notification signal or the completion signal.

9 is a flow chart showing a method of line guidance control of an automatic handling system according to an embodiment of the present invention, and FIG. 10 is a diagram showing optical communication between the main convergence control device and the secondary control convergence device shown in FIG. Schematic diagram of the control state of the meeting place.

As shown in FIG. 9 and FIG. 10, the line guiding control method of the automatic conveying system, when no unmanned transfer device enters the meeting place where the optical line 1 and the optical line 2 are disposed At this time, optical communication is not performed between the main convergence control device 110 and the secondary convergence control device 200 ((a) in Fig. 10a).

When the first unmanned transfer device VHL#1 enters the optical line 2, the secondary convergence control device 200 mounted on the first unmanned transfer device transmits the first entry notification signal by the optical communication module, and the primary merge control device 110 (1) The unmanned transfer device is given a unique number (ID_1), and when the optical communication connection is completed, a pass control signal for notifying "pass" is transmitted to the secondary merge control device 200, and the secondary merge control device 200 passes the merged point according to the pass control signal (S10, (b)) in Fig. 10a. In this case, since the other unmanned transfer device is not present on the second ray path, the first unmanned transfer device VHL#1 can maintain the current traveling speed through the optical line 2.

When the main merge control device 110 confirms whether or not the new unmanned transfer device VHL enters the meeting place A, when the third unmanned transfer device VHL#3 enters the optical line 1 at the meeting place, the secondary merge control device 200 of the third unmanned transfer device transmits the first 3 Enter the notification signal. After receiving the third entry notification signal, the main convergence control device 110 assigns a unique number (ID_3) to the third unmanned transfer device, and after completing the optical communication connection, transmits a control signal for notifying "not passable" to the secondary convergence control device 200. The convergence control device 200 performs a waiting operation such as deceleration at the meeting point by the control signal or execution of a stop (S20).

In this case, as shown in (c) of FIG. 10a, the secondary merge control means of the third unmanned transfer device continues to maintain the optical communication connection state with the main merge control means. As shown in (d) of Fig. 10a, the first unmanned transfer device entering the optical line 2 passes through the optical line 1 at the junction.

As shown in (e) of FIG. 10b, when the first unmanned transfer device passes the merged point, if the first pass completion signal is transmitted, the secondary merge control device of the primary merge control device and the first unmanned transfer device cancels the optical communication connection. (S30).

As shown in (f) of FIG. 10b, when the main convergence control device transmits a control signal indicating that "pass" is passed to the third unmanned transfer device, the third unmanned transfer device passes the merge point according to the pass control signal (S40). . In this case, the main merge control device continues to confirm whether a new unmanned transfer device enters the meeting place during the passage of the third unmanned transfer device 20 through the meeting place.

As shown in (g) of FIG. 10b, when the main convergence control device receives the third pass completion signal from the third unmanned transfer device, the optical communication connection with the secondary merge control device of the third unmanned transfer device is released. (S50).

Although the main convergence control device can give priority to the meeting place in the order of the received entry notification signals, when the two unmanned transfer devices simultaneously enter the meeting place, priority can be given according to whether or not there is a subsequent unmanned transfer device.

That is, as shown in FIG. 11, when the second unmanned transfer device continuously enters the optical line 2 that the first unmanned transfer device is passing, the first unmanned transfer is performed in order to allow the unmanned transfer device entering the optical line 2 to continue to pass. The secondary convergence control device of the device is in optical communication with the secondary convergence control device of the second unmanned transfer device while the secondary convergence control device is in communication. In this way, the primary convergence control device is in optical communication with all unmanned transfer devices located on the light path. Thereby, a plurality of unmanned transfer devices can simultaneously travel on the light path of the meeting place without collision.

Further, in a section where it is difficult to continuously set an optical line such as a curve section of a line, optical communication may be interrupted. Therefore, the wireless communication unit is automatically used in the optical communication interruption section, and according to the line control method shown in FIG. 9, the main convergence control device 110 and the secondary convergence control device 200 perform an entry notification signal for "can pass" or "not available". Through the control signal, through the completion of the signal transmission.

Wireless communication between the primary convergence control device and the secondary convergence control device In this case, in order to perform the optical communication connection, when the unique number is given, the wireless ID of the main convergence control device is transmitted together, thereby ensuring both wireless communication and optical communication can be performed. The wireless communication unit of the main convergence control device transmits its own unique ID to the wireless communication unit of the secondary convergence control device, thereby preventing the occurrence of a serial line with the other primary convergence control device.

Further, in the present invention, even if an additional communication device such as a wireless local area network, a wired local area network, or a serial communication is not provided, the unmanned transfer device can collect the state information of the main merge control device via the wireless communication unit and by the secondary convergence control device (ie, Internal temperature, current, voltage, optical signal strength, optical communication status, etc., and report the collected information to the main control system, so that the main confluence control devices installed on all factory production lines can be effectively managed.

In the above description, the present invention will be described with reference to the preferred embodiments of the present invention. However, those skilled in the art can make various modifications and changes to the present invention without departing from the scope of the invention and the scope of the invention. .

Claims (17)

A line guiding control device for an automatic handling system for preventing collision between the unmanned transfer devices in the automatic handling system for transporting the transportation means between the respective manufacturing devices by an unmanned transfer device, the line guiding control device The method includes: a plurality of optical lines, wherein a line connecting a plurality of lines at a meeting point where the plurality of lines meet is disposed with a side-emitting optical fiber, and one side of the optical fiber and the unmanned transmitting device perform light Communication, wherein one end of the optical fiber is coupled to a primary convergence control device for optical communication between the unmanned transfer device and the primary convergence control device on an associated line that moves over the entire interval of the line in which the optical fiber is disposed; a convergence control device disposed at the meeting point, and optically communicating with the unmanned transfer device by the plurality of optical lines to confirm an entry state and a pass completion state of the unmanned transfer device for the meeting point When the unmanned transfer device enters the meeting place, each of the unmanned transfer devices is set according to the set priority order The unmanned transfer device outputs a pass control signal that can pass or fail; and a confluence control device is disposed on the unmanned transfer device, and the plurality of optical lines are optically communicated with the main merge control device, thereby Notifying the entering state and the passing completion state for the meeting place, and causing the unmanned transfer device to perform an entering action or a waiting action according to the pass control signal. The line guidance control device of the automatic handling system of claim 1, wherein the main convergence control device further comprises: a wireless communication unit, in a state in which the optical communication connection is released in an interruption interval of the plurality of optical lines, when When the unmanned transfer device enters the meeting place, the pass control signal for the pass or fail is wirelessly output to each of the unmanned transfer devices according to the set priority order, and the merge control device further includes: a wireless communication unit, Combined with the main control device Performing wireless communication, notifying the entering state and the passing completion state for the meeting place, and causing the unmanned transfer device to perform the entering action or the waiting action according to the pass control signal, and collecting a state of the main meeting control device After the information, the collected status information is reported to a master control system. The line guidance control device of the automatic transport system of claim 2, wherein the wireless communication unit of the main convergence control device initially transmits an inherent ID of the wireless communication unit to the wireless communication device of the secondary convergence control device when entering the plurality of optical lines The part is transmitted to set the wireless communication link. The line guiding control device of the automatic handling system of claim 1, wherein the plurality of optical lines comprise: the optical fiber for side illumination; and a reflection cover having a shape corresponding to an outer surface of the optical fiber, and an inner storage is formed a space for fixing the optical fiber to prevent it from being detached; a light transmitting body disposed on an opposite surface of the reflector to transmit light incident or emitted from the optical fiber to one side; and an optical coupler disposed on the optical fiber One end of the one end is connected to the main merge control device for optical communication with the secondary convergence control device; and a mirror is disposed at the other end of the optical fiber to reflect light. The line guiding control device of the automatic handling system of claim 4, wherein the reflecting cover adopts a side mirror structure. The line guiding control device of the automatic handling system of claim 4, wherein the optical coupler comprises: a fixing device for fixing the optical fiber to prevent it from falling off; and a guiding device for reflecting a side path and an insertion path of the optical fiber Guide a stopper that limits the insertion depth of the optical fiber according to a set length; an integrated board including a light emitting portion and a light receiving portion optically communicating with the optical fiber, and provided for driving the light emitting portion a driving circuit for driving the pulse, and an amplifying circuit for amplifying and outputting the optical signal of the light receiving portion; and a side mirror disposed at a front end of the integrated board to enhance the light effect of the light emitting portion and the light receiving portion . A line guiding control device for an automatic handling system of claim 6, wherein the inside of the stopper is treated by the mirror. The line guiding control device of the automatic handling system of claim 4, wherein the main meeting control device comprises: a power supply portion that supplies driving power; and an LED driving portion that outputs a driving for driving the optical coupler a pulse signal; a receiving demodulation unit that demodulates a analog signal received by the optical coupler into a digital signal; a state display unit, the pair including a power state, a communication state, an error state, and a a status information of the connection status is displayed; and a processor confirming the unmanned transfer device entering or passing the merged location, performing a line guidance control algorithm for preventing collision between the unmanned transfer devices, and executing Various control operations for the LED drive unit, the reception demodulation unit, the status display unit, and the power supply unit. The line guidance control device of the automatic handling system of claim 8, wherein the main convergence control device further comprises: a transceiver connected to the serial port comprising an RS-232 or an RS-422 for data transmission. The line guiding control device of the automatic handling system of claim 1, wherein The convergence control device includes: at least one optical communication module including a light emitting portion and a light receiving portion for optical communication by the optical fiber; and a communication control module by the at least one optical communication module The group is in optical communication with the main convergence control device, generating an incoming notification signal or a completion signal for the meeting location, and determining the entering action of the unmanned transmitting device according to the passing control signal of the primary convergence control device or Waiting for action. The line guiding control device of the automatic handling system of claim 10, wherein the communication control module comprises: a power input/output portion that performs input and output of a driving power source; and an optical transmission portion whose output is used to drive the light emitting a driving signal of the portion, and demodulating a analog signal received from the light receiving portion into a digital signal; a state display portion, a transmission state including the signal, a power state, a communication connection state, and each optical communication Displaying an error of the module and a status information of the communication status; and a processor respectively generating the entry notification signal and the pass completion signal, and controlling the entering action of the unmanned transfer device according to the pass control signal or The waiting operation after the deceleration stop of the unmanned transfer device is controlled, and various control operations for the light transfer unit, the state display unit, and the power input/output unit are executed. The line guiding control device of the automatic handling system of claim 11, wherein the communication control module further comprises: a transceiver connected to the serial port including an RS-232 for data transmission. A line guiding control method for an automatic handling system for preventing in an automatic handling system for transporting vehicles between various manufacturing equipment by means of an unmanned transfer device The collision between the unmanned transfer devices includes the following steps: in the line where the unmanned transfer device moves, a line connecting a plurality of lines at a meeting point is provided with a side-emitting optical fiber, thereby forming a plurality of fibers a strip light line, the unmanned transfer device moves on the plurality of light paths, and performs optical communication on the side of the optical fiber in the entire interval of the plurality of optical lines, and controls an entering state and a passing state to a main convergence a step of transmitting the device; the main convergence control device disposed at the meeting point is connected to one end of the optical fiber of the plurality of optical lines for optical communication, and the optical fiber is disposed on the plurality of optical paths disposed at the meeting point The entry state of the unmanned transfer device and the step of confirming the pass completion state; the main merge control device performs the setting by confirming the entry state of the new unmanned transfer device by the optical fiber of the plurality of optical lines a step of performing an optical communication connection function by a convergence control device on the new unmanned transfer device; the main After the control device determines whether the new unmanned transfer device enters the meeting place, according to the set priority order, a pass control for the pass or fail is outputted to all the unmanned transfer devices located at the meeting place by the optical fiber. a step of signaling; when the pass control device receiving the pass control signal receives the pass control signal that can pass, performing an entry action of the unmanned transfer device itself, if the pass control signal that is not passable is received And a step of performing a waiting operation of adjusting the traveling speed of the unmanned transfer device itself. The line guidance control method of the automatic handling system of claim 13, wherein the access control device generates an incoming notification signal for notifying the entry point when entering the plurality of optical lines, when the plurality of optical lines are passed , generating a notification through the confluence One pass of the location completes the signal. The line guidance control method of the automatic handling system of claim 13, wherein, in the process of the unmanned transfer device passing the meeting place, the main meeting control device continues to confirm by optical communication whether the new unmanned transfer device enters the confluence location. The line guiding control method of the automatic handling system of claim 13, further comprising: in the interruption section of the plurality of optical lines, when the optical communication connection is released, the main convergence control device enters the plurality of optical lines at an initial stage to The step of the convergence control device of the unmanned transfer device transmitting a unique ID of its own and performing a wireless communication connection function by wireless communication; after the main convergence control device confirms the entry state of the unmanned transfer device by wireless communication, And according to whether the new unmanned transfer device enters the meeting place, according to the set priority order, a step of generating the pass control signal for the unmanned transfer device to pass or fail; and when the convergence of the pass control signal is received When the control device receives the pass control signal that can pass, the entry operation of the unmanned transfer device itself is performed, and when the pass control signal that is not passable is received, the waiting action of the adjustment speed of the unmanned transfer device itself is executed. step. The method of the line guidance control of the automatic handling system of claim 16, further comprising: the convergence control device wirelessly communicating with the primary convergence control device, collecting a status information of the primary convergence control device, and collecting the status information The status information is reported to a master system.