WO2020101097A1 - Système de plate-forme de robot mobile destiné à la gestion de processus et de production - Google Patents

Système de plate-forme de robot mobile destiné à la gestion de processus et de production Download PDF

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Publication number
WO2020101097A1
WO2020101097A1 PCT/KR2018/014594 KR2018014594W WO2020101097A1 WO 2020101097 A1 WO2020101097 A1 WO 2020101097A1 KR 2018014594 W KR2018014594 W KR 2018014594W WO 2020101097 A1 WO2020101097 A1 WO 2020101097A1
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WIPO (PCT)
Prior art keywords
control unit
driving
code
production management
unit
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PCT/KR2018/014594
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English (en)
Korean (ko)
Inventor
박종현
김우현
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(주) 로탈
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Publication of WO2020101097A1 publication Critical patent/WO2020101097A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors

Definitions

  • the present invention relates to a mobile robot platform system for process and production management.
  • a code mark is attached to the floor on the driving route of an unmanned transport vehicle, and the recognized code mark is recognized to recognize the current position, driving speed, and driving route of the unmanned transport robot in motion, making the product flexible and quick.
  • the vision sensor provided in the manipulator can correct the position by recognizing the QR code attached to the production facility, and in order to avoid obstacles sequentially, the obstacle detection unit in the diagonal direction to the body frame of the unmanned transport vehicle Equipped to detect obstacles located in all directions of the unmanned transport vehicle, and when an unmanned transport vehicle collides with an obstacle not detected by the obstacle detection unit, the collision detection unit detects a collision with the obstacle and avoids the collided obstacle
  • the collision detection unit detects a collision with the obstacle and avoids the collided obstacle
  • AGVs automatic guided vehicles
  • the guide line tracking AGV which repeatedly travels along a guide line, can be used for transporting parts loaded on a truck to a predetermined position in a production process, and thus the demand is increasing.
  • the guideline tracking AGV used in the conventional field mainly uses a one-dimensional scanning method using a magnetic sensor.
  • the magnetic sensor-based guide line tracking method it is difficult to analyze the guide line of a complex structure such as a branch or confluence point of the guide line by using a narrow one-dimensional search and detection area, and is also susceptible to damage to the magnetic guide line. There are disadvantages.
  • magnetic guide lines are buried on the floor of the workplace to minimize damage, while separate markers (magnetic markers, RFID tags, etc.) are installed on the floor of the workshop, and AGV
  • markers magnetic markers, RFID tags, etc.
  • the method of overcoming through the embedding of such a separate mark has become a great burden to secure the production flexibility required in the industrial field of the modern multi-product small-scale production method.
  • the production line must be changed and redesigned from time to time depending on the items of production.
  • the method of embedding magnetic guide lines and separate markings is an economical and time-consuming method for these changes, and the floor of the workshop site is made of steel.
  • magnetic field interference there is a limitation in that the use of a magnetic sensor-based induction method is inherently impossible due to magnetic field interference.
  • manipulators are medical robots such as endoscopes, single-port surgical robots, military robots, robots that perform various tasks in space, dangerous goods handling robots, and piping, from rescue robots that search for survivors in disaster areas due to the characteristics of motion and shape. It is used in a variety of robot fields, such as various industrial robots, such as cleaning robots.
  • Manipulators especially articulated arm robots, are used for various work processes, for example in assembly or manufacturing in industrial environments. At this time, at least one manipulator is correspondingly controlled by the manipulator controller, and the work process or process flow is controlled by the process controller.
  • a known flow of work processes is for example a manipulator approaching a working point that is pre-determined in path planning.
  • the program for the working process is started via a process controller and is correspondingly executed by the manipulator or by an end effector or tool located in the manipulator.
  • the transfer robot equipped with the conventional manipulator has a problem in that the precision of the position is lowered due to a cumulative error caused by wheel rush, frame tolerance, wheel wear, and frictional force changes due to dust.
  • the present invention has been devised to solve the above problems, attaching a code mark to the floor on the traveling path of the unmanned transfer robot and recognizing the attached code mark to recognize the current position, driving speed, and driving path of the unmanned transfer robot in operation.
  • the obstacle detection unit is provided diagonally to the body frame of the unmanned transfer robot to avoid obstacles located in all directions of the unmanned transport vehicle.
  • the collision detection unit detects a collision with the obstacle, and then avoids the collided obstacle to perform normal driving.
  • the object of the present invention is to provide a mobile robot platform system for process and production management capable of sequential obstacle avoidance capable of horizontally moving left and right and periodically correcting the correct position of the manipulator through a QR code attached to the production facility. .
  • the mobile robot platform system for process and production management devised to achieve the above object includes a body frame modularized for each component mounting position to facilitate detachment of components located therein; A plurality of obstacle detection units provided on the outside of the body frame to detect obstacles located in the progress path; A collision detection unit which is provided on the outer surface of the body frame and transmits a collision signal when it collides with an obstacle outside the detection range of the obstacle detection unit; A code mark recognition unit provided to recognize the current position in the progress direction and the progress path by recognizing the code mark attached to the floor on the progress path; Upper housing coupled to the upper side of the body frame and equipped with a robot operation equipment including a driving control unit and a charging battery therein; It is possible to combine the production management equipment including a manipulator and a camera, and a coupling portion formed on the upper side of the upper housing; A plurality of code marks attached on the progress path of the unmanned transfer robot; A system control unit that receives signals from sensors including an obstacle detection unit, a collision detection unit, and a
  • the code mark is formed of a cross type and a diamond type
  • the cross type has a central QR code in the center
  • four QR codes are located on the outer side of the central QR code to provide five QR codes.
  • the central QR code is located in the central portion
  • an empty space of a cross shape is located on all sides of the central QR code
  • the QR code is located on all sides of the empty space to further include nine QR codes.
  • a remote control program including a QR code data, a wireless remote controller connection method, and a status display unit for displaying equipment connection status confirmation, a QR code and an image display unit for displaying a camera image provided in the manipulator;
  • a wireless remote control including a direction movement control lever, a rotation movement control lever, an upward movement control button, a downward movement control button, and a safety sensor deactivation button.
  • the present invention it is possible to quickly and accurately avoid obstacles, thereby improving the driving efficiency of an unmanned transport robot that transports a production product, and has an effect of easy maintenance and repair of an unmanned transport robot, and periodically manipulators and unmanned transport vehicles There is an effect that can improve the position accuracy by correcting the position of.
  • FIG. 1 is a side view showing an unmanned transfer robot in which a manipulator is coupled to a coupling portion in a mobile robot platform system for process and production management according to a preferred embodiment of the present invention
  • Figure 2 is a front view showing an unmanned transfer robot with a manipulator coupled to the engaging portion
  • FIG. 4 is a view showing a posture control state of an unmanned transport vehicle using a code mark
  • FIG. 5 is a diagram showing a cross-type code mark
  • FIG. 6 is a diagram showing a diamond type code mark
  • FIG. 7 is a block diagram showing sensor signal flow
  • FIG. 8 is a view showing a remote control program.
  • the mobile robot platform system for process and production management includes a modular body frame for each component mounting position to facilitate detachment of components located therein; A plurality of obstacle detection units provided on the outside of the body frame to detect obstacles located in the progress path; A collision detection unit which is provided on the outer surface of the body frame and transmits a collision signal when it collides with an obstacle outside the detection range of the obstacle detection unit; A code mark recognition unit provided to recognize the current position in the progress direction and the progress path by recognizing the code mark attached to the floor on the progress path; Upper housing coupled to the upper side of the body frame and equipped with a robot operation equipment including a driving control unit and a charging battery therein; It is possible to combine the production management equipment including a manipulator and a camera, and a coupling portion formed on the upper side of the upper housing; A plurality of code marks attached on the progress path of the unmanned transfer robot; A system control unit that receives signals from sensors including an obstacle detection unit, a collision detection unit, and a code mark recognition unit, performs calculations,
  • FIG. 1 is a side view showing an unmanned transfer robot having a manipulator coupled to a coupling portion in a mobile robot platform system for process and production management according to a preferred embodiment of the present invention
  • FIG. 2 is an unmanned transfer robot having a manipulator coupled to a coupling portion.
  • Front view FIG. 3 is an internal configuration diagram of an unmanned transport vehicle
  • FIG. 4 is a view showing a posture control state of an unmanned transport vehicle using a code mark
  • FIG. 5 is a cross-type code mark
  • FIG. 6 is a diamond
  • FIG. 7 is a block diagram showing a sensor signal flow
  • FIG. 8 is a diagram showing a remote control program.
  • Mobile robot platform system for process and production management according to a preferred embodiment of the present invention, referring to Figures 1 to 8, body frame 10, obstacle detection unit 20, collision detection unit 30, code Mark recognition unit 40, coupling unit 130, driving control unit 72, mecanum wheel 80, driving state light emitting unit 90, touch panel 100, quick switch 110, driving battery 120 , Remote control program 200, and a wireless remote control 300.
  • the intelligent mobile production management system using the unmanned transfer robot specifies a cross-type code mark (2) and a diamond-type code mark (3) on the floor on the driving path of the unmanned transfer robot.
  • a cross-type code mark (2) and a diamond-type code mark (3) on the floor on the driving path of the unmanned transfer robot.
  • an obstacle detecting unit 20 is provided on the outer surface of the body frame 10 to detect obstacles located in all directions of the unmanned transfer robot's progress path when the autonomous vehicle is autonomous, and it is possible to run by avoiding the obstacle and detect the obstacle.
  • the collision detection unit 30 detects a collision with the obstacle, and then avoids the collided obstacle to perform normal driving.
  • the intelligent mobile production management system using an unmanned transfer robot has a code mark composed of a cross type (2) and a diamond type (3) at a predetermined interval on the floor on a driving path in which the unmanned transfer robot travels at a work site. Attach and attach the QR code (7) to the production facility to arrive at the input location and perform the operation.
  • the code mark recognition unit 40 provided in the unmanned transport vehicle 400 recognizes the form of the code mark attached to the floor of the driving route and displays driving information including the current position, driving speed, and driving route of the robot in operation.
  • the driving control unit 72 determines the traveling direction and driving speed of the unmanned transport vehicle to drive the unmanned transport robot.
  • the unmanned transport vehicle 400 is provided at the lower end of the unmanned transport robot and enables the driving of the unmanned transport robot using a magnum wheel.
  • the code mark recognition unit 40 of the unmanned transport vehicle 400 recognizes the center position of the code mark and the unmanned transport vehicle 400, and the distance between the code mark and the center position of the unmanned transport vehicle, the inclination of the code mark
  • the system control unit 70 performs an operation to place the center position of the unmanned transport vehicle in the center of the code mark, and then transmits an operation signal to the drive control unit 72 to drive the control unit ( 72) by driving the unmanned transport vehicle 400, it is possible to control the posture of the unmanned transport vehicle.
  • the unmanned transfer robot generates a cumulative error in driving due to various variables including wheel rush, frame tolerance, wheel wear, and frictional force changes caused by dust.
  • the recognition unit may correct the position of the unmanned transfer robot through the code mark and the code mark recognition unit 40 of the unmanned transfer robot.
  • the accurate location of the production management equipment including the manipulator 150 is essential for effective and precise operation to perform the input operation after the unmanned transfer robot arrives at the predetermined location.
  • the vision sensor 170 provided at the end of the manipulator 150 after arrival at the input position recognizes the QR code 7 attached to the production facility to accurately recognize the manipulator. After correcting the position, the operation is performed.
  • the vision sensor 170 After arriving at the input position for the position accuracy of the manipulator, the vision sensor 170 provided at the end of the manipulator recognizes the QR code 7 which is attached to the facility, and the distance between the QR code 7 and the vision sensor 170 , When the inclination degree of the QR code 7 is read and transmitted to the system control unit 70, the system control unit 70 transmits an operation signal to the production management equipment control unit 71.
  • the production management equipment control unit 71 receives the signal transmitted from the system control unit 70, performs calculations for correct position correction of the production management equipment 140 including the manipulator 150, and then performs the production management equipment 140 including the manipulator. ) To transmit the control command for attitude control to the production management equipment including the manipulator to control the operation of the production management equipment.
  • an obstacle detecting unit 20 is provided in the diagonal direction on the body frame 10 of the unmanned transfer robot to detect obstacles located in all directions of the progress path of the unmanned transfer robot. And dodge and drive.
  • the collision detecting unit 30 detects a collision with the obstacle, and then avoids the colliding obstacle to normal You can drive.
  • both sides of the body frame 10 is provided with a mecanum wheel 80 that is not limited in the radius of rotation is provided, it has a feature that can be run back and forth and horizontally left and right.
  • the body frame 10 is configured to be modularized for each location in which the components described below are mounted to facilitate detachment and maintenance of components located therein.
  • the mecanum wheel 80 provided in the body frame 10 is a wheel capable of driving forward and backward and left and right horizontally, and does not require a separate steering device due to its characteristics, and is hardly limited by the rotational drive radius of the wheel.
  • the body frame 10 of the present invention has an advantage in that maintenance and maintenance of the unmanned transfer robot is easy since the weight of the driving wheel is reduced and various electric components can be modularly mounted and detachably mounted.
  • the obstacle detecting unit 20 is a sensor for recognizing an obstacle that is separated from a predetermined distance, including an infrared sensor and a laser sensor, and a body frame to detect an obstacle located in a progress path of an unmanned transfer robot.
  • a plurality of pairs may be provided in a diagonal portion of the diagonal direction (10), or a plurality of obstacle detecting units 20 may be provided on the outer surface of the body frame.
  • the primary obstacle reducing unit of one of the pair of primary obstacle detecting units 20 provided at the corner portions of the body frame 10 is left and right in the diagonal direction. Since it is possible to provide a wide field of view of about 272 degrees or more, the plurality of primary obstacle detection units 20 provided in the diagonal direction of the body frame 10 are located in a 360-degree full range with respect to the traveling direction of the unmanned transfer robot To detect obstacles.
  • the collision detection unit 30 is provided along the circumference of the body frame 10 on the outside of the slope of the body frame 10.
  • the collision detection unit 30 transmits the collision signal to the system control unit 70 described below when an obstacle outside the sensing range of the obstacle detection unit 20 collides with an obstacle, and the system control unit 70 drives the control unit. Operation signal is transmitted to (72).
  • the drive control unit 72 receives the signal transmitted from the system control unit 70 and transmits a signal for avoiding the collided obstacle to the mecanum wheel 80 to avoid the collided obstacle and the unmanned transfer robot takes the original path. So that it can be driven.
  • the collision detection unit 30 includes a bumper 32, a linear bush 34, a linear shaft 36, and a limit switch.
  • the linear shaft is pushed to the rear to operate the limit switch, and the limit switch transmits a collision signal to the drive control unit 72, and the drive control unit 72 transmits a avoidance driving signal to avoid a collision obstacle. 80).
  • the upper housing is seated on the upper side of the body frame 10 and is detachable from the body frame.
  • Production management equipment including a multi-joint manipulator and a camera may be coupled to the coupling portion 130 formed on the upper side of the upper housing.
  • the multi-joint manipulator 150 coupled to the coupling portion 130 can be coupled to the coupling portion 130 on the upper side of the upper housing, and includes a 3-axis external force detection sensor, a gripping portion, and a vision sensor. do.
  • the vision sensor 170 is provided at the end of the manipulator and can recognize the QR code 7 attached to the production facility to correct the exact position of the manipulator 150.
  • the QR code 7 attached to the facility is recognized by the vision sensor 170 provided at the end of the manipulator, and the distance between the QR code and the vision sensor, QR
  • the system control unit 70 performs an operation for correct position correction, and then transmits an operation signal to the production management equipment control unit 71 to transmit it to the production management equipment control unit. Controls the manipulator's posture.
  • a 3-axis external force detection sensor is provided in each joint, and when an external force is detected in the X-axis, Y-axis, and Z-axis directions while the manipulator 150 is in motion, motion in the direction in which the external force is sensed is stopped and the corresponding motion The input operation in the following order is performed.
  • the manipulator 150 includes three or more joints, and the X-axis linear movement, the Y-axis linear movement, the Z-axis linear movement, the X-axis rotation movement, and the Y-axis rotation movement are possible by the joint.
  • the manipulator 150 is equipped with a teaching function that allows a person to directly input a motion by moving the manipulator.
  • the manipulator movement is stored in the drive control unit.
  • the gripping part 160 is located at the end of the manipulator, and a tool capable of holding, including adsorption, grasping, and holding is combined to grip the produced product and transfer it to the input position.
  • a camera may be coupled to the coupling unit 130, and the camera coupled to the unmanned transportation robot is rotatable with reference to the data of the location information transmitting and receiving unit including GPS, and can acquire images from all directions on the driving path of the unmanned transportation robot.
  • the unmanned transfer robot of the present invention is a point-to-point movement method in which a code mark is attached to the bottom of a path where the unmanned transfer robot proceeds and recognizes it to determine a progress path. It recognizes the code mark and takes the method of recognizing the current position, driving speed, and direction of the unmanned transfer robot.
  • the code mark method according to the present invention is easy to change flexibly to a code in a form suitable for a factory environment, and it is possible to respond immediately when a code mark is damaged.
  • the QR code recognition unit 40 is a vision sensor including a scan camera, and recognizes a code mark attached to the floor on the progress path of the unmanned transport vehicle to transmit the recognized information to the drive control unit 72 Then, the driving control unit 72 recognizes the current position, driving speed, and traveling path of the unmanned transfer robot in the traveling direction, and determines the traveling direction and traveling speed.
  • the method of the present invention for recognizing a code mark is recognized by an RFID reader or camera attached to an unmanned transport vehicle, a magnetic tape, a color tape attached to the bottom of the progress path, or an RFID tag in which a conventional unmanned transport vehicle is located on a progress path. It recognizes the progress route and the current location, and has an excellent economic efficiency and driving efficiency compared to the driving method, and issues an effect of easy maintenance and repair.
  • the code mark 2 attached to the floor on the driving path through which the unmanned transfer robot travels may be provided as a cross type 2 and a diamond type 3 as shown in FIG. 5.
  • the cross type 2 has a central QR code in the center and four QR codes are located on the outer side of the central QR code 6 to provide five QR codes.
  • Diamond type (3) is a central QR code (5) is located in the center
  • a cross-shaped blank space (4) is located on the outer side of the central QR code
  • QR codes are located on all sides of the blank space (4) to make 9 Have a QR code.
  • the QR code includes information for determining the driving speed of the unmanned transport robot, driving information including the driving direction, and position information including the current position of the unmanned transport robot.
  • the code mark recognition unit 40 is a vision sensor including a scan camera, the code mark 2 attached to the floor on the progress path of the unmanned transport robot traveling and the center position 8 of the unmanned transport vehicle Acquisition of the positional information related to and transmits the recognized information to the driving control unit 72.
  • the system control unit 70 includes an obstacle detection unit 20, a collision detection unit 30, a code mark recognition unit 40, a location information transmission / reception unit 45, a manipulator vision sensor 170, and a wireless system.
  • Receiving the signal transmitted from the sensor provided in the unmanned transport vehicle, including the remote control 300 performs calculations in a central processing unit such as an MCU, recognizes the current posture of the unmanned transport robot in the progress direction, proceeds in direction and speed , And transmits control commands for attitude control to the production management control unit 71 and the driving control unit 72 to control the entire driving device and production management equipment.
  • a central processing unit such as an MCU
  • system control unit 70 is provided with a wireless communication unit to remotely control the unmanned transport vehicle by the remote control program 200 described below.
  • the code mark recognition unit 40 acquires the relative position information of the code mark 2 and the center position of the unmanned transport vehicle together and transmits it to the driving control unit.
  • the mecanum wheel 80 is provided to be connected to independent drive motors before and after both sides of the body frame 10, and has a turning radius at a vertical or rotational center by a drive signal from the drive control unit 72. Independent driving is possible so that the rotational speed and the rotational direction can be different to perform horizontal driving in the left and right directions.
  • the present invention is provided with a driving state light emitting unit 90 capable of emitting a color capable of indicating a corresponding driving state according to an unmanned driving state.
  • the driving state light emitting unit 90 may use LEDs having various colors, and includes an unmanned transport vehicle including a driving state, rotation, stop, running state, and charging state of an unmanned transport vehicle. It is provided on the outside of the body frame 10 to visually check the driving state of each color with a distinct color according to each state.
  • the touch panel 100 and the quick switch 110 are provided in the upper housing 40 and are automatically connected to the drive control unit when the upper housing 40 is attached to the body frame of the unmanned transport vehicle.
  • the touch panel 100 allows the user to manually control the operation of the unmanned transfer robot through the setting of the driving control unit 72, and the quick switch quickly includes the on / off of the unmanned transfer robot to quickly perform basic functions in driving. It is provided in the form of a shortened switch to help you.
  • the driving battery 120 supplies power to components that require electricity, and is located in the center of the body frame 10 in consideration of the location of other components and the center of gravity of the unmanned transport vehicle. .
  • the unmanned transfer robot has a built-in remote control program 200 so that it can remotely control the unmanned transfer robot with the wireless remote controller 300.
  • the remote control program 200 is a program for remotely controlling an unmanned transfer robot with a wireless remote control, and is provided with an image output unit for displaying an image obtained from a camera provided in the multi-joint manipulator of the unmanned transfer robot, and a remote control program
  • a program setting unit 220 capable of setting 200, a connection status display unit 230 showing a wireless remote control connection status, and a location display unit 240 displaying coordinates, moving speed and moving angle of the current unmanned transfer robot are provided. .
  • the wireless remote control 300 is provided with a direction movement control lever, a rotation movement control lever, an upward movement control button, a downward movement control button, and a safety sensor deactivation button.
  • the unmanned transfer robot can be controlled manually using the touch panel 100 and the wireless remote control 300 provided in the upper housing as well as automatic driving through the input position and code mark.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un système de plate-forme de robot mobile destiné à la gestion de processus et de production. Plus précisément, la présente invention concerne un système de plateforme de robot mobile destiné à la gestion de processus et de production, un produit pouvant être transporté de manière souple et rapide au moyen de la fixation d'un repère à code au sol d'un itinéraire d'un véhicule guidé automatisé et de la reconnaissance du repère à code fixé afin de reconnaître la position, la vitesse de circulation, et l'itinéraire actuels d'un robot guidé automatisé en circulation ; afin d'éviter une série d'obstacles, une unité de détection d'obstacle est disposée dans la direction diagonale sur un cadre de corps du robot guidé automatisé afin de détecter des obstacles situés dans toutes les directions de l'itinéraire du véhicule guidé automatisé, et lorsque le véhicule guidé automatisé vient heurter un obstacle qui n'est pas détecté par l'unité de détection d'obstacle, une unité de détection de collision détecte la collision avec l'obstacle, puis le véhicule guidé automatisé peut circuler normalement en évitant l'obstacle heurté, et peut éviter des obstacles suivants en se déplaçant vers l'avant et vers l'arrière ainsi que vers la gauche et vers la droite horizontalement au moyen de la roue mecanum. À cet effet, la présente invention comprend : un cadre de corps modularisé pour chaque position de montage d'élément afin de faciliter la désolidarisation et la fixation d'éléments situés dans ce dernier ; une pluralité d'unités de détection d'obstacle présentes sur l'extérieur du cadre de corps afin de détecter un obstacle situé sur un itinéraire ; une unité de détection de collision présente sur la surface externe du cadre de corps et configurée pour émettre un signal de collision lors d'une collision avec un obstacle, hors d'une portée de détection de l'unité de détection d'obstacle ; une unité de reconnaissance de repère à code configurée pour reconnaître un repère à code fixé au sol sur l'itinéraire afin de reconnaître une position actuelle dans la direction de circulation et l'itinéraire ; un boîtier supérieur accouplé au côté supérieur du cadre de corps et doté d'un dispositif d'actionnement de robot comprenant une unité de commande d'entraînement et une batterie rechargeable dans ce dernier ; une unité d'accouplement à laquelle un équipement de gestion de production comprenant un manipulateur et une caméra peut être accouplé et qui est formée sur le côté supérieur du boîtier supérieur ; une pluralité de repères à code fixés sur l'itinéraire du robot guidé automatisé ; une unité de commande de système qui reçoit un signal émit par un capteur comprenant l'unité de détection d'obstacles, l'unité de détection de collision, et l'unité de reconnaissance de repère à code, effectue une fonction, et émet un signal d'actionnement à une unité de commande d'équipement de gestion de production et à une unité de commande pilote ; l'unité de commande d'équipement de gestion de production qui reçoit le signal émis par l'unité de commande de système et commande une fonction de l'équipement de gestion de production comprenant un manipulateur et une caméra accouplé à l'unité d'accouplement ; l'unité de commande pilote qui reçoit le signal émis par l'unité de commande de système et commande une fonction du dispositif de circulation comprenant des roues mecanum ; et les roues mecanum qui sont reliées à chacun des moteurs d'entraînement indépendants présents des deux côtés avant et arrière du cadre de corps, et étant entraînés indépendamment par des signaux d'entraînement de l'unité de commande d'entraînement.
PCT/KR2018/014594 2018-11-16 2018-11-26 Système de plate-forme de robot mobile destiné à la gestion de processus et de production WO2020101097A1 (fr)

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CN112518980A (zh) * 2020-11-27 2021-03-19 湖南华好智能装备有限责任公司 一种用于混凝土预制件的装配设备
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