KR101968217B1 - Automated Guided Vehicle capable of sequential obstacle avoidance - Google Patents

Abstract

The present invention relates to an unmanned vehicle capable of recognizing travel information and controlling attitude by a QR code and a cross mark. More specifically, the automatic guided vehicle is equipped with a QR code and a code mark composed of a cross mark at a predetermined interval on the floor on a traveling route where the automatic guided vehicle tows the car at a work site, And obtains driving information including the current position, traveling speed and traveling route of the traveling unmanned vehicle, recognizes the distance between the code mark and the center position of the unmanned vehicle, and reads the inclination of the cross mark, The QR code capable of controlling the attitude of the unmanned vehicle by driving the unmanned vehicle to position the center position of the code mark on the center of the code mark, and the unmanned vehicle capable of recognizing the traveling information and controlling the attitude by the cross mark.
To this end, the present invention provides a method of controlling a plurality of code marks attached on a path of an automatic guided vehicle; A code mark recognizing unit recognizing a code mark attached to a floor on a progress path and recognizing a current position, a progress path, and a posture in a progress direction; A mechanical hookwheel, which can be independently driven by independent driving motors before and after both sides of the body frame; And a drive control unit for receiving a signal transmitted from the code mark recognition unit and performing a calculation and sending out a control signal for controlling a driving device including a mechanical hookwheel, Provide possible unmanned transport vehicle.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automatic guided vehicle capable of detecting sequential obstacle avoidance,

The present invention relates to an unmanned vehicle capable of recognizing travel information and controlling attitude by a QR code and a cross mark. More specifically, the automatic guided vehicle is equipped with a QR code and a code mark composed of a cross mark at a predetermined interval on the floor on a traveling route where the automatic guided vehicle tows the car at a work site, And obtains driving information including the current position, traveling speed and traveling route of the traveling unmanned vehicle, recognizes the distance between the code mark and the center position of the unmanned vehicle, and reads the inclination of the cross mark, The QR code capable of controlling the attitude of the unmanned vehicle by driving the unmanned vehicle to position the center position of the code mark on the center of the code mark, and the unmanned vehicle capable of recognizing the traveling information and controlling the attitude by the cross mark.

Recently, a variety of AGV (Automatic Guided Vehicle), that is, an unmanned conveyance vehicle, has been applied to industrial fields according to industrial automation and unmanned tendency.

Among them, a guided line tracking AGV that repeatedly travels along a guide line along a guide line can be used for transporting parts loaded on a carriage to a predetermined position in the production process, and the demand thereof is increasing.

On the other hand, the guided line tracking AGV used in the conventional field mainly uses a one-dimensional scanning method through a magnetic sensor. In such a guided line tracking method based on a magnetic sensor, it is difficult to analyze a guided line having a complex structure such as a branching or joining point of a guiding line due to the use of a one-dimensional narrow searching and sensing area, and it is also vulnerable to damage to a magnetic guiding line There is a drawback.

In order to solve this disadvantage, a magnetic induction line is embedded in the bottom of the work site to minimize damage, while a separate marker (magnetic marker, RFID tag, etc.) A method of overcoming the difficulties of the analysis of the complex structure guidance line is used by using a separate sensor for recognizing the embedded markers.

However, the overcome of the landfill by such a separate landmark has become a great burden for securing the production flexibility required in the industrial field of the recent multi-product small scale production method. In other words, the production line must be changed and redesigned from time to time depending on the production item. The magnetic induction line and the landfill method for separate markings are very costly and time-consuming to make such changes. It is impossible to use the magnetic sensor based induction method because of the magnetic field interference.

 In addition, there is a method in which paint or color tape is painted or attached to the bottom of a traveling path of an unmanned vehicle, and the camera recognizes the painted or colored tape. However, this method is also vulnerable to workplace contamination and damage to painters and color tapes.

On the other hand, in order to avoid obstacles located on the route of the unmanned vehicle, it is difficult to move the bogie quickly due to the obstacle avoidance in the conventional system.

Therefore, there is a need for a new means for easily maintaining and repairing a traveling route through a simple traveling route control, and for avoiding obstacles more quickly and accurately, thereby improving the traveling efficiency of an unmanned vehicle.

Prior Art Document: KR Patent Registration No. 10-1349507 (published on Apr. 1, 2014)

SUMMARY OF THE INVENTION The present invention has been conceived in order to solve the above problems, and it is an object of the present invention to provide an automatic guided vehicle in which a QR code and a code mark composed of a cross mark are attached at a predetermined interval to a floor on a traveling route, Recognizes the code mark in the code mark recognizing unit included in the automatic guided vehicle to acquire the traveling information including the current position, traveling speed, and traveling route of the unmanned carrying vehicle in the traveling state, and calculates the distance between the code mark and the center position of the unmanned carrying vehicle, And the center position of the unmanned vehicle is positioned at the center of the code mark. The QR code and the crucible mark, which can control the attitude of the unmanned vehicle, The object of the present invention is to provide an unmanned vehicle capable of control.

According to an aspect of the present invention, there is provided a vehicle navigation system comprising: a plurality of code marks attached to a traveling path of an unmanned vehicle; A code mark recognizing unit recognizing a code mark attached to a floor on a progress path and recognizing a current position, a progress path, and a posture in a progress direction; A mechanical hookwheel, which can be independently driven by independent driving motors before and after both sides of the body frame; And a drive control unit for receiving a signal transmitted from the code mark recognition unit and performing an operation and sending out a control signal for controlling a driving device including a mechanical hookwheel.

Further, the code mark may further include a QR code for determining the driving information and the position information of the unmanned vehicle at the center, and a cross mark for controlling the attitude of the unmanned vehicle at the outer sides of the QR code .

When the code mark recognizing unit obtains the position information related to the code mark and the center position of the unmanned vehicle, and transmits the position information to the drive control unit, the drive control unit calculates the distance between the code mark and the center position And reading the slope of the cross mark to control the attitude of the unmanned vehicle so that the QR code portion of the code mark can be located at the center position of the unmanned vehicle.

According to the present invention, obstacles can be avoided quickly and accurately, and simple route control can be performed. This makes it possible to improve the traveling efficiency of an unmanned vehicle that trains a bogie, and can improve the traveling path of an unmanned bogie, There is an easy effect.

FIG. 1 is a perspective view showing a QR code according to a preferred embodiment of the present invention and an unmanned conveyance vehicle capable of recognizing travel information and controlling attitude by a cross mark,
2 is an internal configuration diagram of an automatic guided vehicle,
3 is an exploded perspective view of an unmanned vehicle,
Fig. 4 is a side view of Fig. 1,
5 is a view showing a code mark,
6 is a view showing a posture control state of an automatic guided vehicle using a code mark,
7 is a block diagram illustrating sensor signal flow;

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In addition, the preferred embodiments of the present invention will be described below, but it is needless to say that the technical idea of the present invention is not limited thereto and can be variously modified by those skilled in the art.

FIG. 1 is a perspective view showing an automatic guided vehicle capable of recognizing travel information and attitude control according to a QR code and a cross mark according to a preferred embodiment of the present invention, FIG. 2 is an internal configuration view of the automatic guided vehicle, Fig. 4 is a side view of Fig. 1, Fig. 5 is a view showing a code mark, Fig. 6 is a view showing an attitude control state of an automatic guided vehicle using a code mark, It is a block diagram.

Referring to FIG. 1 to FIG. 7, an unmanned vehicle capable of recognizing travel information and controlling attitude by a QR code and a cross mark according to a preferred embodiment of the present invention includes a QR code 4 and a cross mark 4 The code mark 2, the body frame 10, the obstacle detecting unit 20, the collision detecting unit 30, the code mark recognizing unit 40, the towing cart signal transmitting unit 50, the towing cart signal receiving unit 60, A touch panel 100, a quick switch 110, and a driving battery 120. The touch panel 100 includes a touch panel 100, a driving control unit 70, a mechanical hook-up wheel 80, a driving state light emitting unit 90,

First, an unmanned conveyance vehicle capable of recognizing travel information and attitude control by means of a QR code and a cross mark is mounted on a floor on a traveling route where an unmanned conveyance vehicle trains a bogie at a work site, and a QR code (4) And a cross mark (6) are attached at predetermined intervals.

7, the code mark recognizing unit 40 provided in the automatic guided vehicle recognizes the QR code 4 among the code marks 2 attached on the bottom of the traveling route, The driving control unit 70 determines the traveling direction, the traveling speed, and the like of the unmanned vehicle by obtaining the traveling information including the current position, the traveling speed, and the traveling route, and transmits the traveling information obtained by the driving control unit 70, Drive the vehicle.

6, the code mark recognizing unit 40 recognizes the code mark 2 and the center position 8 of the unmanned vehicle so that the code mark 2 and the center position 8 of the unmanned vehicle The distance and the degree of inclination of the cross marks 6 are read and transmitted to the drive control section, the drive control section drives the unmanned transport vehicle so that the center position 8 of the unmanned transport vehicle is located at the center of the code mark 2 The attitude of the unmanned vehicle can be controlled.

2, in order to avoid the obstacles located on the traveling path of the unmanned vehicle, the obstacle sensing unit 20 is provided on each side of the body frame 10 in the diagonal direction, Detects obstacles located on the path of the unmanned vehicle and avoids them.

3, when an unmanned vehicle collides with an obstacle not detected by the obstacle detection unit 20, the collision sensing unit 30 detects a collision with an obstacle, avoids a collided obstacle, can do.

3, a mechanical hook-and-loop wheel 80 is provided on both sides of the body frame 10 to limit the turning radius of the body frame 10, so that the body frame 10 can be rotated forward and backward, left and right horizontal travel, have.

Hereinafter, constituent elements constituting the unmanned vehicle capable of recognizing the traveling information and controlling the attitude according to the QR code 4 and the cross mark 6 according to the preferred embodiment of the present invention will be described in detail.

Referring to FIGS. 1 and 3, the body frame 10 is modularized according to the positions at which the components described below are mounted in order to facilitate detachment and maintenance of internal components.

The mechanical hook-and-loop wheel 80 provided in the body frame 10 is a wheel which can be driven forward and backward and horizontally and horizontally. Therefore, no separate steering device is required for the mechanism, and the mechanical drive wheel is not limited to the rotational driving radius of the wheel. Therefore, the body frame 10 according to the present invention has a merit that the weight of the driving wheels can be reduced, and various electric parts can be mounted in a modular fashion so that the maintenance and repair of the unmanned vehicle can be easily performed.

Referring to FIG. 1, a plurality of cover panels 12 are connected in series from the upper side of the modular body frame 10 to protect the components located inside the body frame 10.

Referring to FIG. 2, the obstacle sensing unit 20 is a sensor for recognizing an obstacle at a predetermined distance including an infrared sensor and a laser sensor. The obstacle sensing unit 20 includes a body frame 20 for detecting an obstacle located in the path of the unmanned vehicle, A plurality of pairs of the obstacle detecting portions 20 may be provided on the diagonal corner portions of the body frame 10 or a plurality of the obstacle detecting portions 20 may be provided on the outer side of the body frame.

As shown in FIG. 2, when the obstacle detecting unit 20 is installed at the corner of the body frame, one obstacle detecting unit of the pair of obstacle detecting units 20 provided at the corner of the body frame 10, The plurality of obstacle detecting portions 20 provided in the diagonal direction of the body frame 10 are positioned in the entire range of 360 degrees in all directions with respect to the traveling direction of the unmanned transportation vehicle An obstacle is detected.

Referring to FIGS. 2, 3 and 7, the collision sensing unit 30 is provided along the periphery of the body frame 10 at the outer periphery of the slope of the body frame 10. FIG. The collision sensing unit 30 transmits the collision signal to the driving control unit 70 described below when an obstacle out of the detection range of the obstacle sensing unit 20 collides with an unmanned vehicle, A signal for avoiding the obstacle is transmitted to the mechanical hook-up wheel 80 so as to avoid the collided obstacle so that the unmanned vehicle can be driven along the original course.

Here, the components constituting the collision sensing unit 30 and their operation will be described in detail as follows.

Referring to FIG. 3, the collision sensing unit 30 includes a bumper 32, a linear bush 34, a linear shaft 36, and a limit switch.

If the obstacle located on the path of the automatic guided vehicle collides with any one bumper 32 surrounding the outer frame of the body frame 10, the bumper is guided by a linear shaft (not shown) 36).

At this time, the linear shaft 36 is pushed rearward to actuate the limit switch. The limit switch transmits a collision signal to the drive control unit 70, and the drive control unit 70 outputs an avoidance drive signal for avoiding the collided obstacle And transmitted to the mechanical hook-and-loop wheel 80.

Referring to FIG. 7, the traction trajectory signal transmitting unit 50 may include an RFID sensor or the like. The traction trajectory signal transmitting unit 50 may transmit a corresponding signal to the traction trajectory signal transmitter 50 so as to distinguish whether the traction vehicle is an object, And transmits the signal to the lower side of the traction bogie.

The traction trajectory signal receiving unit 60 is installed so as to look upward from the manned vehicle and receives a signal transmitted from the traction trajectory signal transmitting unit 50 provided at the lower side of the traction trajectory to drive a signal for identifying the traction object When it is transmitted to the control unit 70, the drive control unit 70 determines whether or not the vehicle is a towing vehicle.

7, the driving control unit 70 includes the obstacle sensing unit 20, the collision sensing unit 30, the code mark recognizing unit 40, and the towing cart signal receiving unit 60, Receives signals transmitted from the sensors, performs operations in a central processing unit such as an MCU, and controls the entire driving apparatus including bogie traction and driving signal transmission.

3 and 4, the mechanical hook-and-loop wheel 80 is connected to the independent driving motors before and after the both sides of the body frame 10, and is driven by the driving signal of the driving control unit 70, Independent driving is possible so that the rotational speed and the rotational direction can be different in order to perform the horizontal travel in the left and right direction without the turning radius.

On the other hand, most of the operation lines operated by the unmanned vehicle have a considerable difficulty in confirming the operation status of the unmanned vehicle due to the generation of various noises.

In order to solve the above-mentioned difficulties, the present invention is provided with a driving-state light emitting unit 90 capable of emitting a color capable of displaying a corresponding driving state according to the driving state of the unmanned vehicle.

3 and 4, LEDs of various colors may be used as the driving state light emitting unit 90. The driving state light emitting unit 90 may include a light emitting diode Is provided outside the body frame 10 to visually confirm the driving state of the body frame 10.

1 and 2, the touch panel 100 is provided in the form of a touch pad on the front side of the automatic guided vehicle so that the user can directly operate the driving of the automatic guided vehicle through the setting of the drive control unit 70 .

Referring to FIG. 1, the quick switch 110 is provided in the form of a shortened switch so as to quickly perform a basic function in driving including the on / off operation of an unmanned vehicle.

Referring to FIG. 3, the driving battery 120 supplies power to the components requiring electricity, and is located at the center of the body frame 10 in consideration of the position of the components with respect to other components and the center of gravity of the unmanned vehicle .

Meanwhile, the unmanned vehicle according to the present invention determines a traveling route by a point-to-point moving method.

5, a plurality of code marks 2 are attached to the bottom of a traveling path on which an unmanned conveyance vehicle travels at predetermined intervals, and a code mark recognizing part 40 of an unmanned vehicle carries a code mark 2), determines the current position, traveling speed, traveling direction, and attitude of the unmanned vehicle, and determines the traveling path.

In the method of the present invention for recognizing the code mark 2, a conventional RFID tag or a magnetic tape attached to the bottom of a path of travel, a color tape is attached to an RFID reader or camera attached to an unmanned vehicle, The code mark 2 can be changed flexibly in a form suitable for the factory environment as compared with a method of recognizing the progress path and the current position and running, and the code mark 2, which is immediately damaged when the code mark 2 is damaged, It is easy to maintain and repair, and the driving efficiency of the unmanned vehicle can be improved.

In the present invention, as shown in FIG. 5, the code mark 2 attached to the floor on the traveling path on which the unmanned vehicle travels includes information on the traveling speed of the unmanned vehicle, traveling information including the direction of travel, And a cross mark 6 for attitude control of the unmanned vehicle are placed on the outer side of the QR code 4. [

Referring to FIG. 7, the code mark recognition unit 40 is a vision sensor including a scan camera. The code mark recognition unit 40 detects a code mark 2 attached to a floor on a traveling path on which an automatic guided vehicle travels and a center position 8 of the automatic guided vehicle And transmits the recognized information to the drive control unit 70. [0050]

The drive control unit 70 recognizes the current position, travel speed, travel path, and current position of the unmanned vehicle in the traveling direction, and transmits a control command for the traveling direction, the traveling speed, and the attitude control to the driving device .

Specifically, referring to FIG. 6, the code mark recognizer 40 acquires relative position information on the code mark 2 and the center position 8 of the unmanned vehicle, and transmits the obtained relative position information to the drive controller 70.

At this time, in the drive control unit 70, the distance between the code mark 2 and the center position 8 with respect to the horizontal axis and the vertical axis, and the distance between the center position 8 and the center mark 8, The inclination of the cross mark 6 for grasping the degree of rotation about the vertical axis and the horizontal axis of the code mark 2 can be read so that the QR code 4 portion of the code mark 2 can be located at the center position 8 of the unmanned vehicle So that the attitude of the unmanned vehicle is controlled.

It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

2 - Code mark 4 - QR code
6 - Cross mark 8 - Center position
10 - Body frame 20 -
30 - Collision Detection Unit 40 - Code Mark Recognition Unit
50 - traction trailer signal transmitter 60 - traction trailer signal receiver
70 - drive control unit 80 - mechanical drive wheel
90 - driving state light emitting part 100 - touch panel
110 - Quick switch 120 - Drive battery

Claims (3)

A plurality of code marks affixed on the path of travel of the unmanned vehicle;
A code mark recognizing unit recognizing a code mark attached to a floor on a progress path and recognizing a current position, a progress path, and a posture in a progress direction;
A mechanical hookwheel, which can be independently driven by independent driving motors before and after both sides of the body frame;
A drive control unit for receiving a signal transmitted from the code mark recognizing unit and performing an arithmetic operation and sending out a control signal for controlling a driving device including a mechanical hook-
Lt; / RTI >
In the code mark, the QR code for judging the operation information and the position information of the unmanned vehicle is located in the center, and the cross mark for the attitude control of the unmanned vehicle is placed on the outer side of the QR code
/ RTI >
When the code mark recognizing unit acquires positional information on the code mark and the center position of the unmanned vehicle, and transmits the position information to the drive control unit, the drive control unit calculates the distance between the code mark and the center position, To control the posture of the unmanned vehicle so that the QR code portion of the code mark is located at the center position of the unmanned vehicle by reading the slope of the mark
/ RTI >
A plurality of pairs of a pair of diagonally facing corner portions of the body frame for detecting obstacles located on the path of the automatic guided vehicle;
When the collision signal is transmitted to the drive control unit when an obstacle beyond the detection range of the obstacle detection unit collides with the unmanned vehicle, the drive control unit controls the drive control unit to avoid the collided obstacle A collision sensing unit for transmitting a signal to a mechanical wheelwheel to avoid a collided obstacle so that an unmanned vehicle can be driven along an original course;
A towing vehicle signal transmission unit installed at a lower side of the towing vehicle and transmitting a signal downward to transmit the signal to the outside so as to distinguish whether the towing vehicle is loaded with goods or not,
When a signal for identifying a trailer to be towed is received by the traction trajectory signal transmission unit installed on the underside of the towing vehicle, the traction trajectory signal is transmitted to the driving control unit, A traction braking signal receiving unit for determining whether the bogie is a bogie;
A driving state light emitting unit provided outside the body frame 10 for visually confirming the driving state of the unmanned vehicle including the traveling state, rotation, stop, running state, and charging state of the unmanned vehicle;
A touch panel provided on the upper side of the front portion of the automatic guided vehicle so as to allow the user to directly drive the automatic guided vehicle through the drive control unit setting; And
A quick switch provided in a shortened switch form so as to quickly perform a basic function in driving including on /
, Which is capable of recognizing the driving information and controlling the attitude by the QR code and the cross mark. delete delete

Images