TWI674229B - Apparatus for controlling line guide of automated material handling system and the method thereof - Google Patents

Abstract

A line guidance control device and method for an automatic handling system. Specifically, optical lines are set up at the meeting place where multiple lines meet. When multiple unmanned vehicles enter the meeting place at the same time, the unmanned vehicles are allowed to pass in accordance with the set priority order, thereby preventing unmanned vehicles A collision occurred at the meeting point. The present invention uses optical fibers for side-emission to arrange optical lines. Therefore, it is possible to control the simultaneous convergence of multiple unmanned transfer devices on the same line, and it is easy to set the optical line even in the curve section, and the length of the optical line can be set longer than that in the prior art. The unmanned transfer device can enter and pass the meeting place at the maximum driving speed. When decelerating and stopping at the meeting place to perform the waiting action, the optical line can be set longer than the stopping distance, so that the unmanned transfer device can successfully complete the running process.

Description

Line guidance control device and method of automatic handling system

The invention relates to a line guidance control device and method for an automatic handling system. Specifically, an optical line is set at a meeting place where multiple lines meet. When multiple unmanned vehicles enter the meeting place at the same time, the unmanned vehicles are passed in sequence according to the set priority order, which can prevent unmanned people. A collision between transfer vehicles occurred at the meeting point.

Generally, in the production process of devices such as semiconductor elements or liquid crystal displays, an automatic material handling system (AMHS) is used to move the items to be manufactured to the manufacturing equipment in each production process, and the related items are manufactured according to each manufacturing process. The program of the equipment is completed. This automatic transfer system uses an unmanned transfer device to transfer a carrier containing a semiconductor substrate or a liquid crystal substrate to each manufacturing facility installed on a production line, and then re-stores the items that have completed the corresponding procedures in the relevant manufacturing equipment. And transfer it to the manufacturing equipment of the next process.

This unmanned transfer device, depending on the movement mode, includes: AGV (Automated Guided Vehicle) running on wheels automatically; RGV (Rail Guided Vehicle) running on rails installed on the ground; and driving along rails installed on the ceiling OHT (Overhead Hoist Transport). This unmanned transfer device uses its own After moving the wheels to the relevant manufacturing equipment along the guide rails provided on the ground or the guide rails provided on the ceiling, the work vehicles or hoists and grippers are used to transport / carry the transportation tools to the relevant manufacturing equipment.

In this case, the unmanned transfer device on different paths must pass through the place without collision with each other at the place where the multiple guide rails meet.

According to the prior art, an optical communication device is provided at the entrance and the unmanned transfer device, and a receiving device is provided at the exit. The optical communication is performed between the unmanned transfer device and the central control device to confirm whether it has entered the confluence. Location to prevent collisions.

However, the above-mentioned configuration for preventing collision at the meeting place can only perform communication 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. It must always move at a low speed near the communication sensor at the entrance. One track can only leave one unmanned. The transfer device enters.

In addition, according to the prior art, in order to prevent a collision between unmanned transfer devices at a meeting point, a relay device for communication is provided on a merge path where the tracks of the unmanned transfer device meet. At the same time, in order to manage the operations of a plurality of unmanned transfer devices in the convergence section, a management device that generates operation instruction information through wireless communication is provided between the communication relay device and the communication device on the unmanned transfer device side.

However, in the above-mentioned configuration for preventing collision between unmanned transfer devices at the convergence point, antennas capable of performing wireless communication according to the respective paths must be provided on each of the convergence paths. Therefore, not only is it difficult to install the antenna, but it is also difficult to make and install an antenna matching the curve in the curve section of the track.

An object of the present invention is to provide a line guidance control device of an automatic conveying system and a method thereof. An optical line with a side-emitting optical fiber is set on the line at the meeting place. When multiple unmanned transfer devices enter the meeting place at the same time, they will output a "pass control signal" to each unmanned transfer device according to the set priority order to determine whether they can Passing or not passing can prevent collision between unmanned transfer devices at the meeting place.

In an embodiment, the line guidance control device of the automatic transfer system is used for preventing collision between the unmanned transfer devices in the automatic transfer system for transferring the transportation means between the manufacturing equipments by the unmanned transfer device, which is characterized in that: Including: a plurality of optical lines, a side-emitting optical fiber is arranged in the entire section of the line where the multiple lines meet in the line moved by the unmanned transfer device, and one side of the optical fiber performs optical communication with the unmanned transfer device, and One end is connected to the main convergence control device, so as to perform optical communication between the unmanned transfer device and the main convergence control device moving on the relevant line of the entire section of the line where the optical fiber is installed; the main convergence control device is arranged at the convergence place, Optical communication is performed with the unmanned transfer device through the optical line to confirm the entry status and completion status of the unmanned transfer device for the meeting place. When multiple unmanned transfer devices enter the meeting place, they are sent to the meeting place according to the set priority order. The output of each unmanned transfer device can be passed or not Through a control signal; and a secondary convergence control device, which is set on the unmanned transfer device and performs optical communication with the main convergence control device through the optical line, thereby notifying the entry status and pass completion status for the convergence location, and according to The control signal causes the unmanned transfer device to perform an entering operation or a waiting operation.

The present invention is characterized in that the main convergence control device further comprises a wireless communication unit which, in a state where the optical communication connection is released in the interruption section of the optical line, when a plurality of unmanned transfer devices enter the convergence location, Set priorities to each The wireless output of the human transfer device is for a pass control signal that can be passed or not pass. The convergence control device also includes a wireless communication unit that wirelessly communicates with the main convergence control device to notify the entry status and pass of the meeting place. Complete the status, and allow the unmanned transfer device to perform an entering action or a waiting action according to the control signal, and after collecting the status information of the main convergence control device, report the collected status information to the main control system.

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

The invention is characterized in that the optical line includes: a side-emitting optical fiber; a reflecting cover having a shape corresponding to the outer surface of the optical fiber, an inner storage space is formed to fix the optical fiber to prevent it from detaching; a light transmitting body, It is arranged on the opposite side of the reflecting cover to allow the light entering or exiting from the optical fiber to pass to one side; the optical coupler is arranged at the end of one side of the optical fiber, is connected to the main convergence control device, and is The secondary convergence control device performs optical communication; and a reflector is disposed at the other end of the optical fiber to reflect light.

The invention is characterized in that the reflecting cover adopts a side mirror structure.

The invention is characterized in that the optical coupler includes: a fixing device for fixing the optical fiber to prevent it from falling off; a guide device for guiding the side reflection path and the insertion path of the optical fiber; and a stopper, which The length limits the insertion depth of the optical fiber; the integrated board includes a light-emitting portion and a light-receiving portion that perform optical communication with the optical fiber, a driving circuit that provides a driving pulse for driving the light-emitting portion, and the light-receiving portion An amplifying circuit for amplifying and outputting an optical signal; and a side mirror, which is disposed at the front end of the integrated board to enhance the light effect of the light emitting portion and the light receiving portion.

The present 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 section that provides driving power; an LED driving section that outputs a driving pulse signal for driving the photocoupler; and a receiving demodulation section that is to be coupled by the light The analog signal received by the receiver is demodulated into a digital signal; the status display section displays status information including the power status, communication status, error status, and port connection status; and the processor is configured to enter or pass through the meeting place. The unmanned transfer device confirms, executes a line guidance control algorithm to prevent collisions between unmanned transfer devices, and executes various control actions for the LED driving section, receiving demodulating section, status display section, and power supply section.

The invention is characterized in that the main convergence control device further comprises a transceiver, which 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 or more optical communication modules including a light emitting portion and a light receiving portion in order to enable optical communication through the optical fiber; and a communication control module by which The optical communication module performs optical communication with the main convergence control device, generates an entry notification signal or a completion signal for the convergence location, and determines the entry or waiting action of the unmanned transfer device according to the control signal of the main convergence control device.

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

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

In an embodiment, a line guidance control method of an automatic transfer system is used to prevent collision between the unmanned transfer devices in an automatic transfer system that transfers a transportation tool between various manufacturing equipments by an unmanned transfer device, and includes: The following steps: a side-emitting optical fiber is provided in the entire section of the line where the multiple lines meet in the line moved by the unmanned transfer device, thereby forming an optical line, and the unmanned transfer device moves on the light path, and The section executes the steps of transmitting the entering state and the completion convergence information to the main convergence control device through optical communication on the optical fiber side; the main convergence control device provided at the convergence location is connected to the optical fiber end of the optical line to perform optical communication Step of confirming the entry status and completion status of the unmanned transfer device by the optical fiber installed on the light path of the junction; the main convergence control device confirms the entry status of the new unmanned transfer device by the optical fiber of the optical line After that, it is executed and installed on the new unmanned transfer device. Steps for the secondary convergence control device to perform the optical communication connection function; after the main convergence control device judges whether a new unmanned transfer device has entered the merged location, it outputs the targeted The step of passing control signals that can pass or fail; when the sub-convergence control device that receives the passing control signals receives a pass control signal that can pass, executes the entry action of the unmanned transfer device itself, and when it receives an unpassable pass In the case of a control signal, the waiting operation of the unmanned transfer device itself to adjust the running speed is performed.

The present invention is characterized in that, when the convergence control device enters the optical line, it generates an entry notification signal to notify the entry of the convergence place, and when passing through the optical line, The health notification signal is passed through the meeting place.

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

The feature of the present invention further includes: when the optical communication connection is released during the interruption period of the optical line, the primary convergence control device transmits in order to perform wireless communication with the secondary convergence control device of the unmanned transfer device in the initial stage of entering the optical line. Its own unique ID and execute the steps of wireless communication connection function; after the main convergence control device confirms the entry status of the unmanned transfer device through wireless communication, according to whether the new unmanned transfer device enters the merge location, according to the set priority order To generate a pass control signal for the unmanned transfer device that can pass or cannot pass; when the sub-convergence control device that receives the pass control signal receives a pass control signal that can pass, execute the entry action of the unmanned transfer device itself, When an unpassable pass control signal is received, a step of waiting for the speed adjustment of the unmanned transfer device itself is performed.

The present invention is characterized in that it further comprises the following steps: the secondary convergence control device performs wireless communication with the primary convergence control device, and after collecting the status information of the primary convergence control device, the collected status information is reported 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 optical lines are configured by using side-emitting optical fibers, it is possible to control the simultaneous convergence of multiple unmanned transfer devices on the same line, even in curved sections. It is easy to set the optical line, and the length of the optical line can also be set longer than the existing technology, so that the unmanned transfer device can enter and pass the meeting place at the maximum driving speed. When decelerating at the meeting place and stopping the waiting action, the Set the optical line more than the stopping distance Long, so that the unmanned transfer device can smoothly complete the driving process.

In addition, the present invention can not only perform convergence control stably to ensure that wireless communication functions can be performed in the interrupted section of the optical line or in the section where the optical communication connection cannot be performed, so as to perform control actions that can pass through or fail to pass through the convergence point, If other communication devices are provided, the status information of the main convergence control device can also be collected and reported to the main control system through wireless communication, so that the main convergence control device can be integrated and managed.

20‧‧‧Unmanned Transfer Device

110‧‧‧Master Convergence Control Device

111‧‧‧Main Confluence Control Device

111a‧‧‧LED driver

111b‧‧‧Receiving Demodulation Department

112‧‧‧Status display section

113‧‧‧ processor

114‧‧‧ Transceiver

115‧‧‧Power Supply Department

116‧‧‧Wireless Communication Department

200‧‧‧ confluence control device

210‧‧‧Communication Control Module

211‧‧‧Optical Transmission Department

212‧‧‧Status display section

213‧‧‧Power input and output section

214‧‧‧Transceiver

215‧‧‧Processor

216‧‧‧Wireless Communication Department

220‧‧‧Optical Communication Module

220a‧‧‧The first optical communication module

220b‧‧‧The second optical communication module

221‧‧‧Lighting Department

222‧‧‧Light receiving section

250‧‧‧ Power and Control Cable

300‧‧‧ Optical Fiber

310‧‧‧Reflector

320‧‧‧ Optocoupler

321‧‧‧Lighting Department

322‧‧‧Drive circuit

323‧‧‧Light receiving section

324‧‧‧amplified circuit

330‧‧‧Translucent body

340‧‧‧Reflector

510‧‧‧Fixed device

520‧‧‧Guide device

530‧‧‧stop

540‧‧‧Integrated board

Lane1, Lane2‧‧‧ Line

OL1 ~ OL4‧‧‧Optical line

FIG. 1 is a schematic diagram showing the configuration of a line guidance control device of an automatic conveying system according to an embodiment of the present invention; FIGS. 2 (a) and (b) are schematic diagrams showing the installation state of the optical line shown in FIG. 1; FIG. 1 is a schematic diagram of a line installation state of a primary convergence control device and a secondary convergence control device; FIG. 4 is a schematic view showing a state in which a line guidance control device of an automatic handling system according to an embodiment of the present invention is arranged on a factory production line; 5 is a block diagram showing the structure of the main convergence control device shown in FIG. 1; FIG. 6 is a schematic diagram showing the structure of the optical coupler shown in FIG. 5; FIG. 7 is a block diagram showing the structure of the secondary convergence control device shown in FIG. 8 (a) and (b) are schematic diagrams showing the appearance of the secondary convergence control device shown in FIG. 7; FIG. 9 is a flowchart illustrating a method for controlling a line guidance of an automatic handling system according to an embodiment of the present invention; 10a (a) to (d) and Figs. 10b (e) to (g) indicate that the unmanned transfer device passes the convergence control of the optical communication between the main convergence control device and the secondary control convergence device shown in FIG. 9 at the convergence point. FIG. 11 is a schematic diagram showing a state where the main convergence control device and a plurality of sub-control convergence devices located on the optical line perform optical communication at the convergence point without conflict.

Regarding the description of the present invention, the structure and function of the present invention will be described by using examples. Therefore, the scope of rights of the present invention is not limited to the embodiments listed herein. That is, the embodiment can be variously modified and can have various forms. Therefore, the scope of rights of the present invention should be understood to include equivalents capable of realizing the technical idea of the present invention. In addition, the objects and effects proposed by the present invention do not mean that the specific embodiments include all the objects and effects or only the effects. Therefore, the scope of rights of the present 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.

Terms such as "first" and "second" are used to distinguish one constituent element from other constituent elements, and these terms do not limit the scope of rights of the present invention. For example, the first component can be named the second component. Similarly, the second component may be named the first component.

When referring to a component being “connected” with other components, it should be understood that it may be directly connected to other components, or there may be other components in the middle. On the contrary, when referring to a “direct connection” between a constituent element and other constituent elements, it should be understood that there are no other constituent elements in between. In addition, other expressions that explain the relationship between the constituent elements, that is, "between" and "that is between" or "with ~ adjacent" and "directly adjacent with" should also be explained in the same way. .

As long as there is no other clear meaning in the article, singular expressions should be understood to include plural expressions. Terms such as "including" or "having" should be understood as meaning The existence of specified features, numbers, steps, actions, constituent elements, components or combinations thereof does not exclude the existence of one or more other features or digits, steps, actions, constituent elements, components and combinations thereof. Other possibilities.

For each step, the identification symbols (for example: a, b, c, etc.) are used for convenience of explanation. The identification symbols do not explain the order of the steps. Each step can be described with the recorded order except the specific order. The order is different. That is, each step may be executed in the order described, or may be actually executed simultaneously, or may be executed in the opposite order.

As long as there is no other definition, all terms used herein have the same meaning as commonly understood by a person having ordinary knowledge in the technical field to which the present invention belongs. The terms defined in commonly used dictionaries should be interpreted according to the same meanings as those in related technical articles. As long as there is no clear definition in the present invention, they cannot be understood in an ideal or excessive form.

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

As shown in FIG. 1 to FIG. 4, the line guidance control device of the automatic conveying system includes: a plurality of optical lines OL1, OL2, OL3, and OL4 provided at a convergence point; a main convergence control device 110; and a secondary convergence control device 200.

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

As shown in FIG. 2, such optical lines OL1 to OL4 include a reflection cover 310, a light transmitting body 330, an optical coupler 320, and a reflecting mirror 340.

The reflecting cover 310 has a shape corresponding to the outer surface of the optical fiber 300, and an inner storage space is formed to generate a function of fixing the optical fiber 300 to prevent it from detaching from the light path. The reflecting cover 310 is formed in a bucket shape to ensure that an optical fiber can be easily installed and can improve the efficiency of light transmission and light reception. Such a reflecting cover 310 uses a side mirror structure to ensure that the light effect of the light emitting portion and the light receiving portion can be enhanced.

The light transmissive body 330 is disposed on the opposite side of the reflective cover 310 to ensure that the light entering or exiting from the optical fiber can be reflected toward the reflective cover 310 side.

The optical coupler 320 is disposed at one end of the optical fiber, and is connected to the main convergence control device 110 through a circuit, so that optical communication with the sub-convergence control device 200 can be performed.

The reflecting mirror 340 is disposed at the other end of the optical fiber 300, and is used to reflect the light emitted by 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 light signal intensity.

Such an optical line is not only easy to install in a straight section with a certain length or more, but also easy to install in a curved section. In general, in order to achieve a certain length of optical communication, a configuration including a light guide plate may 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 multiple light guide plates is used to realize the setting of the optical line. However, the method of setting an optical line by connecting the light guide plate generates a large light loss in the light guide plate connection section, so it is ultimately difficult to realize the setting of the optical line in a longer section or a curve section that is longer than a certain length. The present invention Optical fiber can easily solve this problem.

In addition, in the present invention, the installation length of the optical line is set longer than the existing installation length. When there is no other unmanned transfer device at the junction, the unmanned transfer device 20 can enter and pass the junction at the maximum driving speed, and even if When the converging point is decelerated and stopped to perform a waiting operation, the traveling flow of the unmanned transfer device 20 can be made smooth by setting the optical line longer than the stopping distance. For example, for a system that uses a light guide plate with a maximum length of 2m to set up an optical line and is suitable for an unmanned transfer vehicle moving at 5m / sec, the deceleration distance of the unmanned transfer vehicle is required to be above 5m. Therefore, it is necessary to decelerate from the position before the optical line is installed. This unconditional deceleration driving at the meeting place is the cause of the decrease in the overall system's working efficiency, and ultimately it cannot be applied to the logistics system of unmanned mobile vehicles that are gradually increasing in speed. That is, in the present invention, it is possible to use an optical fiber to set an optical line with an unlimited length. Therefore, in consideration of factors such as the speed of an unmanned vehicle in the system and the location of a meeting place, the length of the optical line is appropriately set to ensure unmanned transfer The vehicle can travel at a high speed without decelerating even when entering a 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 convergence point A according to a set priority order by optical communication. In order to perform optical signal transmission for two lines Lane1 and Lane2, this main convergence control device 110 is provided with four ports (Lane1-1, Lane1-2, Lane2-1, and Lane2-2).

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 entering operation or a waiting operation to the meeting point A according to a control signal.

This 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 the optical communication connection function when entering the convergence point A, and performs the optical communication connection release function when passing through the convergence point A, and transmits an entry notification signal notifying whether or not to enter the convergence point A to the unmanned transfer device 20, thereby reflecting The unmanned transfer device 20 is entering or waiting.

FIG. 5 is a block diagram showing the configuration of the main convergence control device shown in FIG. 1, and FIG. 6 is a schematic view showing the 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 driving section 111 a, a receiving demodulating section 111 b, a status display section 112, a processor 113, a transceiver 114, a power supply section 115, and a wireless communication section 116. The main convergence control device 110 is connected to the photocoupler 320 through a power source and a control cable.

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

The LED driving unit 111a and the receiving demodulation unit 111b constitute a communication circuit 111 that performs optical communication with the photocoupler 320. The number of the communication circuits 111 is the same as the number of the photocouplers 320 connected by a cable.

The status display section 112 displays status information such as a power status, a communication status, an error status, and a serial port connection status.

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

Transceiver 114 is connected to serial ports such as RS-232 or RS-422 for data Material transmission.

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

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

In addition, the optical coupler 320 includes a light emitting section 321, a light receiving section 323, a driving circuit 322 that provides a driving pulse for driving the light emitting section 321, and an amplifier circuit 324 that amplifies and outputs an optical signal outputted by the light receiving section 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 falling off, and the guide device 520 guides the side reflection path of the optical fiber 300 and the insertion path of the optical fiber 300.

The purpose of the stopper 530 is to limit the depth of insertion of the optical fiber 300 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 section 321, a light receiving section 323, a driving circuit 322, and an amplifier circuit 324.

In addition, a side mirror (not shown) is provided at the front end of the integrated board 540 to enhance the light effect of the light emitting portion 321 and the light receiving portion 323.

FIG. 7 is a block diagram showing a configuration of the secondary convergence control device shown in FIG. 1, and FIG. 8 is a schematic diagram illustrating an appearance of the secondary convergence control device shown in FIG. 7.

As shown in FIGS. 7 and 8, the secondary convergence control device 200 includes a light receiving unit 222 and a light emitting unit 221 on the first and second optical communication modules 220 a and 220 b. The communication control module 210 includes a light transmission section 211, a status display section 212, a power input / output section 213, a transceiver 214, a processor 215, and a wireless communication section 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 optical transmission section 211 outputs a driving pulse for driving the light emitting section 221 and demodulates the analog signal received by the light receiving section 222 into a digital signal.

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

The power input / output unit 213 is responsible for input / output of a 24V power supply, and the transceiver 214 is connected to a serial port such as RS-232 to perform data transmission.

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

When the optical communication is interrupted, the wireless communication unit 216 and the wireless communication unit 116 of the main convergence control device 110 receive the pass control signal through wireless communication, and transmit an entry notification signal or a pass completion signal.

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

As shown in Figs. 9 and 10, in the line guidance control method of the automatic handling system, when no unmanned transfer device enters the confluence provided with the optical line OL1 and the optical line OL2 At the time of the location, no optical communication is 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 OL1, the sub-convergence control device 200 mounted on the first unmanned transfer device transmits the first entry notification signal through the optical communication module, and the main merge control device 110 sends a first 1 The unmanned transfer device assigns a unique number (ID_1). When the optical communication connection is completed, a pass control signal notifying "passable" is transmitted to the sub-convergence control device 200, and the sub-convergence control device 200 passes the confluence point according to the pass control signal (S10, (B) in Figure 10a). In this case, since there is no other unmanned transfer device on the optical line OL2, the first unmanned transfer device VHL # 1 can maintain the current traveling speed through the optical line OL1.

After the main convergence control device 110 confirms whether there is a new unmanned transfer device VHL entering the meeting point A, when the third unmanned transfer device VHL # 3 enters the optical line OL2 of the meeting point, the second merge control device 200 of the third unmanned transfer device sends 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. After completing the optical communication connection, it transmits a pass control signal notifying "not passable" to the second convergence control device 200. The convergence control device 200 decelerates or performs a waiting operation such as a stop at the convergence point based on the control signal (S20).

In this case, as shown in (c) of FIG. 10a, the secondary convergence control device of the third unmanned transfer device continues to maintain the optical communication connection state with the primary convergence control device. As shown in (d) of FIG. 10a, the first unmanned transfer device entering the optical line OL1 passes through the optical line OL2 at the meeting point.

As shown in (e) of FIG. 10b, after the first unmanned transfer device passes the convergence point, if the first pass completion signal is sent, the main convergence control device and the second convergence control device of the first unmanned transfer device release the optical communication connection. (S30).

As shown in (f) of Fig. 10b, when the main convergence control device transmits a passing control signal notifying "can pass" to the third unmanned transfer device, the third unmanned transfer device passes the meeting place according to the passing control signal (S40) . In this case, the main convergence control device continues to confirm whether or not a new unmanned transfer device enters the meeting place while the third unmanned transfer device 20 passes 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 second convergence 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 notification signals, when two unmanned transfer devices enter the meeting place at the same time, the priority can be given according to whether there are subsequent unmanned transfer devices.

That is, as shown in FIG. 11, when the second unmanned transfer device continuously enters the optical line OL1 through which the first unmanned transfer device passes, in order to continue the unmanned transfer device that enters the optical line OL1, the first unmanned transfer device is transferred. The sub-convergence control device of the device maintains communication, and performs optical communication connection with the sub-convergence control device of the second unmanned transfer device. In this way, the main convergence control device performs optical communication with all unmanned transfer devices located on the light path. Thereby, a plurality of unmanned transfer devices can simultaneously drive on the light path of the convergence place without collision.

In addition, in a section where it is difficult to continuously set optical lines such as a curve section of the line, optical communication may be interrupted. Therefore, the wireless communication unit is automatically used during the optical communication interruption period. According to the line control method shown in FIG. 9, an entry notification signal is sent between the main convergence control device 110 and the sub-convergence control device 200, and the response is “passable” or “impossible”. The transmission of the pass control signal and the pass completion signal.

Wireless communication between the primary convergence control device and the secondary convergence control device In this case, in order to make an optical communication connection, when assigning a unique number, the wireless ID of the main convergence control device is transmitted together to ensure that both wireless communication and optical communication can be performed. The wireless communication section of the main convergence control device transmits its unique ID to the wireless communication section of the secondary convergence control device, so that it is possible to prevent cross-talk from occurring with other main convergence control devices.

In addition, in the present invention, even if no additional communication devices such as wireless LAN, wired LAN, and serial communication are provided, the unmanned transfer device can collect the status information of the main convergence control device (i.e., the secondary convergence control device via the wireless communication unit and the secondary convergence control device) 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 confluent control device installed in all factory production lines can be effectively managed.

In the above description, the present invention has been 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 and spirit of the present invention described in the claims. .

Claims (15)

A line guidance control device for an automatic handling system for preventing collisions between the unmanned transfer devices in the automatic transfer system for transferring vehicles between various manufacturing equipment by an unmanned transfer device. The line guidance control device Including: a plurality of optical lines, a side-emitting optical fiber is arranged in the entire section of a line where a plurality of lines converge among the lines moved by the unmanned transfer device, and light is transmitted to the unmanned transfer device through one side of the optical fiber Communication, and one end of the optical fiber is connected to a main confluence control device, so as to perform optical communication between the unmanned transfer device and the main confluence control device moving on relevant lines of the entire section of the line where the optical fiber is provided; the main The convergence control device is arranged at the meeting place, and performs optical communication with the unmanned transfer device through the plurality of optical lines to confirm an entry state and a pass completion state of the unmanned transfer device for the meeting place. When the unmanned transfer device enters the meeting place, it will The unmanned transfer device outputs a pass control signal that can pass or cannot pass; and a convergence control device, which is disposed on the unmanned transfer device and performs optical communication with the main convergence control device through the plurality of optical lines, thereby Notifying the entry status and the pass completion status of the meeting place, and causing the unmanned transfer device to perform an entry action or a waiting action according to the pass control signal. The main convergence control device further includes: a wireless communication section, which is When the optical communication connection is released in a state where the multiple optical lines are interrupted, when a plurality of the unmanned transfer devices enter the meeting place, wireless output is provided to each of the unmanned transfer devices in accordance with a set priority order. The passing control signal, the secondary convergence control device further includes: a wireless communication unit that wirelessly communicates with the main convergence control device, and notifies the entry status and the passing completion status of the convergence location State, and let the unmanned transfer device perform the entering action or the waiting action according to the control signal, and after collecting status information of the main convergence control device, report the collected status information to a master control system . For example, the line guidance control device of the automatic handling system of claim 1, wherein the wireless communication part of the main convergence control device enters one of the plurality of optical lines to one of its own unique IDs to the second convergence control device. It is transmitted by the wireless communication section to set the wireless communication link. A line guidance control device for an automatic handling system for preventing collisions between the unmanned transfer devices in the automatic transfer system for transferring vehicles between various manufacturing equipment by an unmanned transfer device. The line guidance control device Including: a plurality of optical lines, a side-emitting optical fiber is arranged in the entire section of a line where a plurality of lines converge among the lines moved by the unmanned transfer device, and light is transmitted to the unmanned transfer device through one side of the optical fiber Communication, and one end of the optical fiber is connected to a main confluence control device, so as to perform optical communication between the unmanned transfer device and the main confluence control device moving on relevant lines of the entire section of the line where the optical fiber is provided; the main The convergence control device is arranged at the meeting place, and performs optical communication with the unmanned transfer device through the plurality of optical lines to confirm an entry state and a pass completion state of the unmanned transfer device for the meeting place. When the unmanned transfer device enters the meeting place, it will The unmanned transfer device outputs a pass control signal that can pass or cannot pass; and a convergence control device, which is disposed on the unmanned transfer device and performs optical communication with the main convergence control device through the plurality of optical lines, thereby Notifying the entry status and the pass completion status for the meeting place, and causing the unmanned transfer device to perform an entry action or a waiting action according to the pass control signal, The plurality of optical lines include: the optical fiber for side emission; a reflecting cover having a shape corresponding to the outer surface of the optical fiber, forming an inner storage space to fix the optical fiber to prevent it from detaching; an optical coupler, which The optical fiber is disposed at one end of the optical fiber, and is connected to the main convergence control device to perform optical communication with the secondary convergence control device; and a reflector is disposed at the other end of the optical fiber to reflect light. For example, the line guidance control device of the automatic handling system of claim 3, wherein the reflecting cover adopts a side mirror structure. The line guide control device of the automatic handling system of claim 3, wherein the optical coupler includes: a fixing device for fixing the optical fiber to prevent it from falling off; and a guiding device for a side reflection 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 that includes a light emitting section and a light receiving section for optical communication with the optical fiber, A driving circuit that provides driving pulses by driving and an amplifying circuit that amplifies and outputs an optical signal by the light receiving portion; and a side reflector, which is provided at the front end of the integrated board to enhance the light emitting portion and the light receiving portion Light effect. The line guidance control device of the automatic conveyance system of claim 5, wherein the inside of the stopper is treated with a mirror. The line guidance control device of the automatic conveyance system according to claim 3, wherein the main confluence control device includes: a power supply unit that provides driving power; An LED driving section that outputs a driving pulse signal for driving the photocoupler; a receiving demodulation section that demodulates an analog signal received by the photocoupler into a digital signal; a status display section, It displays status information including a power status, a communication status, an error status, and a port connection status; and a processor that confirms the unmanned transfer device entering or passing through the confluence site, and executes to prevent the A line guidance control algorithm that collides between unmanned transfer devices, and performs various control actions for the LED driving section, the receiving demodulating section, the status display section, and the power supply section. For example, the line guidance control device of the automatic handling system of claim 7, wherein the main convergence control device further includes: a transceiver connected to a serial port including an RS-232 or an RS-422 for data transmission. For example, the line guidance control device of the automatic handling system of claim 3, wherein the convergence control device includes: at least one optical communication module, which includes a light emitting portion and a light receiving portion in order to enable optical communication through the optical fiber; And a communication control module that performs optical communication with the main convergence control device through the at least one optical communication module, generates an entry notification signal or a pass completion signal for the convergence location, and according to the main convergence control device The passing control signal determines the entering action or the waiting action of the unmanned transfer device. For example, the line guidance control device of the automatic handling system of claim 9, wherein the communication control module includes: a power input / output section that performs input and output of a driving power supply; and an optical transmission section whose output is used to drive the light emission A drive signal from the An analog signal received by the optical section is demodulated into a digital signal. A status display section includes a transmission status, a power status, a communication connection status, an error of each optical communication module, and a communication status status. Status information is displayed; and a processor, which respectively generates the entry notification signal and the pass completion signal, and controls the entry action of the unmanned transfer device or the decelerated stop of the unmanned transfer device based on the pass control signal. The waiting operation is controlled, and various control operations for the light transmission section, the status display section, and the power input / output section are performed. For example, the line guidance control device of the automatic handling system of claim 10, wherein the communication control module further includes: a transceiver connected to a serial port including an RS-232 for data transmission. A line guidance control method for an automatic handling system for preventing collisions between the unmanned transfer devices in an automatic transfer system for transferring vehicles between manufacturing equipment by an unmanned transfer device. The line guidance control method The method includes the following steps: an optical fiber with side light is set in the entire section of a line where a plurality of lines meet in the line moved by the unmanned transfer device, thereby forming a plurality of optical lines, and the unmanned transfer device moves on the plurality of light On the road, and in the entire section of the plurality of optical lines, the steps of transmitting an entry state and a passing completion state to a master convergence control device through the optical communication on the side of the optical fiber; the master junction set at the junction location The control device is connected to one end of the optical fiber of the plurality of optical lines to perform optical communication, and the entry status and the pass completion status of the unmanned transfer device are confirmed by the optical fiber disposed on the plurality of optical paths of the converging point. Step; the main convergence control device uses the optical fibers of the multiple optical lines to pair the new unmanned Send equipment After confirming the entry status of the device, perform the optical communication connection function with a convergence control device provided on the new unmanned transfer device; the main convergence control device judges whether the new unmanned transfer device enters the meeting place Then, according to the set priority, the optical fiber outputs a step for a pass control signal that can be passed or not passed to all the unmanned transfer devices located at the confluence point; when the confluence is received with the pass control signal When the control device receives the pass control signal that can pass, it performs an entry action of the unmanned transfer device itself, and if it receives the unpassable pass control signal, it performs a wait action that adjusts the travel speed of the unmanned transfer device itself. The step further includes the following steps: When the optical communication connection is released during the interruption period of the plurality of optical lines, the main convergence control device enters one of the plurality of optical lines in order to merge with the unmanned transfer device. The control device performs wireless communication to transmit a unique ID of itself and executes Steps of the line communication connection function; after the main convergence control device confirms the entry status of the unmanned transfer device through wireless communication, according to whether the new unmanned transfer device enters the merge location, according to the set priority order, Steps for the pass control signal that the unmanned transfer device can pass or cannot pass; when the convergence control device that receives the pass control signal receives the pass control signal that can pass, executes the unmanned transfer device itself Into the operation, when receiving the passing control signal that cannot pass, execute the step of the waiting operation of adjusting the speed of the unmanned transfer device itself. The line guidance control method of the automatic handling system according to claim 12, wherein: When the convergence control device enters the plurality of optical lines, it generates an entry notification signal notifying the entry of the convergence place, and when passing the plurality of optical lines, generates a pass completion signal notifying the passage of the convergence place. For example, the line guidance control method of the automatic handling system of claim 12, wherein the main convergence control device continues to confirm whether the new unmanned transfer device enters the convergence through optical communication while the unmanned transfer device passes the convergence place. location. For example, the line guidance control method for the automatic conveying system of claim 12, further comprising: performing wireless communication between the secondary convergence control device and the primary convergence control device, collecting status information of the primary convergence control device, and collecting the The step of reporting the status information to a master control system.