KR101202466B1 - Shuttle Vehicle of Conveying Object and Control Method thereof - Google Patents

Abstract

A transport vehicle suitable for preventing the occurrence of a safety accident and a control method thereof are disclosed.

In a conveyance vehicle and its control method, the loading and unloading state of a conveyance object are monitored by a sensor. The microcomputer starts to drive the travel module in response to the loading and unloading status detected by the sensor. In addition, the microcomputer responds to loading and unloading conditions sensed by the sensor when it is received by a departure instruction received from the outside via the communication module.

As a result, damage to the transport object, the unloading device installed on the stocker, and the vehicle body of the transport vehicle is prevented, as well as collision between the transport vehicles. In addition, safety accidents that can be caused to the workers below the overhead logistics system due to the fall of the conveyed object are also prevented.

Bounce, vehicle, fork, arm, departure, sensor, infrared, ultrasonic, stalker, circulation rail.

Description

Carrier vehicle and control method {Shuttle Vehicle of Conveying Object and Control Method

In order to better understand the drawings used in the detailed description of the invention, a brief description of each drawing is provided.

1 is a view schematically illustrating an overhead logistics system including a transport vehicle according to an embodiment of the present invention.

2A and 2B are side views and plan views illustrating the state of the transport vehicle and the unloading device at the time of loading or unloading a load object.

3 is a block diagram illustrating in detail the conveying vehicle shown in FIG. 2.

4 is a flowchart illustrating a method for controlling a transport vehicle according to an exemplary embodiment of the present invention.

DESCRIPTION OF THE REFERENCE NUMERALS to the main parts of the drawings "

10: stocker 10A: carry-on part

10B: carrying out part 20: conveying vehicle

30: circular track rail 110: unloading device

112: fork 114: arm

118: conveying object 200: base plate

202: front wall 204: rear wall

206: fork sensor 208: mark sensor

210: memory 220: drive module

230: braking module 240: communication module

250: microcomputer

The present invention relates to a logistics system that automatically performs the transport and storage of logistics, and more particularly, to a method and apparatus for controlling an unmanned transport vehicle that performs the transport of logistics.

Logistics systems enable automated and unmanned production lines. To this end, the logistics system includes at least one conveying vehicle for conveying objects between two or more stockers. Each of the stockers includes a loading device for loading a stored object to or from the conveying vehicle. The unloading device and the conveying vehicle are automatically driven under the control of the distribution control center so that the conveyance and storage of the distribution is automatically performed without humans.

Such a logistics system is inevitably limited in space because it requires stockers for storing the object to be conveyed and a loading vehicle for conveying the object to be conveyed. In order to solve the space limitation, an overhead logistics system installed above the heads of workers is used. Overhead logistics systems improve the space efficiency of production lines by installing stokers and return vehicles above the operator's head, unlike on-ground logistics systems. In order for the transport vehicle to run above the operator's head, the overhead logistics system is provided with a circulating return rail connecting the stockers. A conveying vehicle is circulated along this circular track lane to enable conveyance of the conveying object between the stockers. Such overhead logistics systems are spotlighted in production lines that produce flat panel panels such as liquid crystal panels and semiconductor integrated circuit chips.

This overhead logistics system, as well as the unloading device in the stocker included in the above ground logistics system and the loading vehicle that carries the conveyed object are individually controlled by the central control center. Such control of the loading apparatus and the loading vehicle can cause the loading vehicle to start running in a state where the loading or unloading of the conveyed object is not completed (that is, the loading apparatus is located in the loading space of the loading vehicle). This may damage the stocker of the stocker or cause the transport vehicle to crash. In addition, the conveyed object and the loaded vehicle may be damaged. Furthermore, in the overhead logistics system, workers on the production line may be injured due to falling of the object to be transported and the vehicle to be transported.

Accordingly, an object of the present invention is to provide a transport vehicle and a control method thereof capable of preventing the occurrence of a safety accident.

The present invention relates to a transport vehicle traveling on a circular track connecting at least two stockers.

Carrying vehicle according to an embodiment of the present invention for achieving the above object is a traveling module to allow the driving is performed; Sensor for detecting the loading and unloading state of the object to be conveyed; And a control unit for starting driving of the travel module in response to the loading and unloading state detected by the sensor.

The transport vehicle further includes a communication module for relaying communication with the outside, and the control unit is capable of responding to the loading and unloading state detected by the sensor in response to a departure instruction received from the outside through the communication module. Can be.

According to another aspect of the present invention, there is provided a method for controlling a transport vehicle, the method including monitoring a loading and unloading state of a transport object in a transport vehicle; Waiting until any one of the loading and unloading of the object to be conveyed is completed; And causing the traveling of the transport vehicle to start when any one of the loading and unloading of the transport object is completed.

According to still another aspect of the present invention, there is provided a method for controlling a transport vehicle, the method including: waiting until an instruction to start driving of the transport vehicle is received; Monitoring the loading and unloading state of the conveying object in the conveying vehicle when the driving start instruction is received; Waiting until any one of the loading and unloading of the object to be conveyed is completed; And causing the traveling of the transport vehicle to start when any one of the loading and unloading of the transport object is completed.

With the above configuration, the loading vehicle and the control method thereof according to the present invention not only prevent the damage of the transport object, the unloading device installed on the stocker and the vehicle body of the transport vehicle, but also prevent the collision between the transport vehicles. In addition, safety accidents that can be caused to the workers below the overhead logistics system due to the fall of the conveyed object are also prevented.

Other objects, other advantages and other features of the present invention will become apparent from the detailed description of the preferred embodiments with reference to the accompanying drawings, in addition to the objects of the present invention as described above.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Prior to the embodiment of the present invention, an overhead logistics system including the transport vehicle of the embodiment of the present invention will be described.

1 is a view schematically showing an overhead logistics system including a transport vehicle according to an embodiment of the present invention. 2A and 2B are a side view and a plan view showing a state where the object to be transported 118 is loaded or unloaded from the loading vehicle 20 at the carrying in portion 10A and the carrying out portion 10B in FIG. 1.

The overhead logistics system of FIG. 1 has two conveying vehicles 20 running on a circular track rail 30 connecting three Stockers 10. Each stocker 10 is provided with a carrying-in unit 10A for carrying in the carrying object 118 and a carrying out unit 10B for carrying out the carrying object 118. As shown in FIG. 2A and FIG. 2B, the loading apparatus 110 for loading and unloading of the conveyed object 118 is provided in these carrying-in part 10A and carrying out part 10B. This unloading device 110 has a fork 112 for supporting the object to be conveyed 118 and an arm 114 for pushing or pulling the fork 112 toward the conveying vehicle 20. The other end of the arm 114 opposite to the one end where the fork 112 is installed is installed to be pivoted and moved up and down in the carrying in portion 10A or the carrying out portion 10B.

The transport vehicle 20 according to the embodiment of the present invention allows the loaded transport object 118 to be unloaded at the loading portion 10A of the designated stocker 10. In addition, the transport vehicle 20 stops at the carrying out portion 10B of the designated stocker 10 to allow the transport object 118 to be loaded. To this end, the transport vehicle 20 detects the stop mark displayed on the circulation track rail 30 while traveling on the circulation track rail 30 to a designated position (that is, the carry-in portion 10A or the carry-out portion 10B). Stop. In order to detect this stop position, the conveying vehicle 20 is provided with the mark sensor 208 provided in front of the underside of the base plate 200 as shown in FIG. 2B. This mark sensor 208 detects the stop marks displayed on the circulation track rail 30. The mark sensor 208 may be a scanner or an infrared coupler (Coupler). In addition, the conveying vehicle 20 may have a fork sensor 206 for detecting a state in which a conveying object is being loaded or unloaded (that is, whether the fork 112 of the loading apparatus 110 is in its loading space). It includes. As the fork sensor 206, both an ultrasonic sensor and an infrared coupler can be used. When the infrared coupler is used as the fork sensor 206, as shown in FIGS. 2A and 2B, the infrared light emitting portion 206A and the infrared light receiving portion 206B are front and rear wall surfaces of the transport vehicle 20 close to the stocker 10. It is installed to correspond to each other at the lower end of the edge of the.

Based on the results detected by these infrared couplers 206A and 206B, the conveying vehicle 20 is finished after the loading or unloading of the load object 118 (that is, the fork 112 is the base of the conveying vehicle 20). After leaving the plate 200) the driving starts. Accordingly, damage to the bodies of the conveying object 118, the unloading device 110, and the conveying vehicle 20 can be prevented, as well as a collision between the conveying vehicles 20 can be prevented. Furthermore, the safety accident of the worker working under the overhead logistics system may be prevented due to the fall of the conveyed object 118.

3 is a block diagram schematically illustrating a transport vehicle 20 according to an embodiment of the present invention.

Referring to FIG. 3, the transport vehicle 20 includes a driving module 220 and a braking module 230 controlled by a micro-computer 250. The travel module 220 causes the transport vehicle 20 to travel along the circulation track rail 30 at a speed designated by the microcomputer 250. To this end, the driving module 220 includes an engine and driving devices for driving the engine. The braking module 230 causes the frictional force of the purified track rail 30 to increase when directed by the microcomputer 250 to cause the transport vehicle 20 to stop.

To control these drive modules 220 and brake modules 230, the microcomputer 250 responds to start and stop commands received from a central control center (not shown) via the communication module 240. When there is a start command from the central control center, the microcomputer 250 drives the drive module 220 or suspends the start based on the fork detection signal from the fork sensor 206. In detail, the microcomputer 250 causes the traveling module 220 to drive the transport vehicle 20 when the fork detection signal has a voltage level indicating completion of loading or unloading of the transport object 118. Alternatively, when the fork detection signal has a voltage level indicating that loading or unloading of the object to be conveyed 118 is in progress, the microcomputer 250 suspends the driving of the driving module 220. The starting control process using the fork sensor will be described in detail in the flowchart shown in FIG. 4. When the stop command is received from the central control sensor, the microcomputer 250 drives the braking module 230 based on the logical value of the position mark detected by the mark sensor 208 so that the conveying vehicle 20 can be accurately loaded. It stops at 10A or carrying out part 10B. The central control center may be installed at any one of the three stockers 10 or at a place separate from these stockers 10. The central control center is connected to the communication module 24 by a communication cable provided along the circulation track rail 30 as well as to the stockers 10 to control the stockers 10 and the transport vehicles 20. The memory 210 stores an operation control program related to the operation of the transport vehicle 20 and also temporarily stores data processed by the microcomputer 250.

As such, the transport vehicle 20 according to the embodiment of the present invention monitors whether the unloading device 110 (that is, the fork 112) stays in its own area, and thus the unloading device 110 has its own area. Departure at the time of departure. Accordingly, damage to the bodies of the conveying object 118, the unloading device 110, and the conveying vehicle 20 can be prevented, as well as a collision between the conveying vehicles 20 can be prevented. Furthermore, the safety accident of the worker working under the overhead logistics system may be prevented due to the fall of the conveyed object 118.

4 is a flowchart illustrating a control method of the transport apparatus 20 according to an embodiment of the present invention. The flowchart of FIG. 4 is stored in the memory 210 shown in FIG. 3 in the form of a program and is operated by the microcomputer 250. Thus, the flowchart of FIG. 4 will be described in conjunction with the transport vehicle 20 shown in FIG.

In operation 300, the microcomputer 250 waits until a location mark indicating a location designated by the central control center is detected by the mark sensor 208. When the position mark indicating the designated position is detected by the mark sensor 208, the microcomputer 250 drives the braking module 230 so that the conveying vehicle 20 can carry in or out of the stocker 10 of the stocker 10. It is made to stop at 10B (step 302). At this time, the unloading device 110 provided in the carrying in part 10A or the carrying out part 10B of the stocker 10 unloads the conveying object 118 loaded in the conveying vehicle 20, or removes the conveying object 118. It loads in the conveyance vehicle 20 (step 304).

After performing step 302, the microcomputer 250 waits until a start command is received from the central control center through the communication module 240 (step 306). When the start command from the central control center is received, the microcomputer 250 inputs the fork detection signal sensed by the fork sensor 206 (step 308). The microcomputer 250 then checks the voltage level (or logic value) of the fork detection signal to see if the fork 112 remains within the area of the conveying vehicle 20 (ie, the conveying object 118 is being loaded or unloaded). (Step 310). In operation 310, when the fork 112 of the loading apparatus 110 is in the area of the conveying vehicle 20 (that is, when the conveying object 118 is being loaded or unloaded), the microcomputer 250 may return the conveying object ( A message indicating that loading or unloading of 250 is sent to the central control center via the communication module 240 is delayed (step 312).

On the contrary, if it is determined in step 310 that the fork 112 of the loading apparatus 110 is out of the area of the conveying apparatus 20 (that is, the loading or unloading of the conveying object 118 is completed), the microcomputer 250 drives the driving module 220 to cause the transport vehicle 20 to start driving (operation 314). Next, the microcomputer 250 sends a message indicating that the operation of the transport vehicle 20 has started to the central control center through the communication module 240, and notifies the central control center that the stable departure has proceeded (step 316). ).

As such, the control method of the transport vehicle 20 according to the embodiment of the present invention monitors whether the unloading device 110 (that is, the fork 112) stays in the area of the transport vehicle 20, and thus the unloading device. The carrier vehicle 20 starts when the 110 leaves the area within itself. Accordingly, damage to the bodies of the conveying object 118, the unloading device 110, and the conveying vehicle 20 can be prevented, as well as a collision between the conveying vehicles 20 can be prevented. Furthermore, the safety accident of the worker working under the overhead logistics system may be prevented due to the fall of the conveyed object 118.

As described above, the conveying vehicle and its control method according to the present invention monitor whether the conveying object is being loaded or unloaded so that the conveying vehicle starts when the loading or unloading of the conveying object is completed. Accordingly, damage to the body of the conveying object, the unloading device and the conveying vehicle can be prevented as well as collision between the conveying vehicles can be prevented. In addition, safety accidents that can be caused to the workers below the overhead logistics system due to the fall of the conveyed object are also prevented.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be apparent that various modifications, alterations, and other equivalent embodiments are possible.

Claims (4)

In the conveying vehicle which conveys a conveyance object, A travel module for driving the transport vehicle; A sensor for detecting entry of the stocker of the stocker for loading and unloading of the conveying object; And A control unit controlled by the driving of the traveling module according to the presence or absence of the unloading device sensed by the sensor, The unloading device includes a fork for supporting the object to be conveyed, and an arm for moving the fork, and the sensor is provided at both ends of the one side at which the fork enters to detect whether the fork is located inside a loading space of the transport vehicle. Carrying vehicle, characterized in that it comprises a light emitting portion and a light receiving portion provided in each. The method of claim 1, Further provided with a communication module for relaying communication with the outside, And the control unit is responsive to a loading and unloading state sensed by the sensor in response to a departure instruction received from the outside via the communication module. Carrying and loading and unloading the object to be transported from the stocker to the fork of the loading device on the base plate of the transport vehicle; Detecting whether the fork is located on the base plate of the transport vehicle; Waiting when the fork is detected on the base plate of the transport vehicle; And And causing the transport of the transport vehicle to start when the fork is not detected on the base plate of the transport vehicle. The method of claim 3, Moving the conveying vehicle to the loading and unloading portion of the stocker to load and unload the conveyed object.

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