KR101408383B1 - Free-ranging automated guided vehicle - Google Patents

Abstract

A trackless automated guided vehicle according to an embodiment of the present invention includes a map storage part which maintains a map which corresponds to a space where a trackless automated guided vehicle moves and has coordinate values according to a first node to n-th node generated by grid division; a node information setting part which maintains base node information, branch node information, or station node information respectively allocated to at least one node among the first node to the n-th node; a link information setting part which maintains front direction link information or curve link information, and straight link information respectively allocated to at least one link which connects at least two nodes among the first node to the n-th node; and a driving control part which maintains node information allocated to each node and a driving algorithm of the trackless automated guided vehicle which is set by the link information allocated to each link and controls the driving of the automated guided vehicle according to the driving algorithm.

Description

{FREE-RANGING AUTOMATED GUIDED VEHICLE}

The present invention relates to a trackless unmanned conveyance vehicle, and more particularly, to a trackless unmanned conveyance vehicle which provides a link attribute corresponding to a characteristic of each node for each node connecting each node, The present invention relates to a trackless unmanned conveyance vehicle capable of performing various traveling events through a map on which a plurality of traveling routes can be set,

In the future, mobile robots in homes and companies will not soon become members of family or company members. In recent years, development of guide robots has been actively carried out in museums and public institutions to provide information desired by visitors and to promote and introduce exhibits. In addition, unmanned vehicles will soon be commercialized, allowing people to travel to dangerous areas without having to board.

Unlike industrial robots, which are simple repetitive tasks, mobile robots are developing into human-friendly intelligent service robots that share human-like environment. For this purpose, the mobile robot should be autonomous. The research areas of autonomous navigation are map building, localization, obstacle avoidance, and path planning. For self-driving, these element technologies must be integrated appropriately.

In order to navigate the robot moving in an environment with obstacles, it is essential to track the position of the robot and to map the surrounding environment. This is because the robot can perform tasks such as path planning, object manipulation, or communication with a human using the created map.

In order to navigate in a less well known environment, robots must map themselves while tracking their location. However, there is a difficulty in calculation because the location is tracked and the map is made using the noise infrared sensor data basically.

Mapping is the modeling of the environment by observing natural or artificial landmarks based on sensor data, and the robot sets its own path through this modeling. On the other hand, in order to perform modeling for a complicated environment, reliable tracking can be made only when position tracking is ensured.

Position tracking refers to grasping the absolute position of a robot in a work environment using various sensor information and a natural landmark. As the robot travels, an error occurs due to various causes (slip of the wheel and the ground, change of the wheel diameter, etc.), and therefore, an error occurs in the position of the robot as the travel progresses. Therefore, a method for correcting this is needed.

In addition, since the conventional unmanned vehicle is controlled so as to move only by the information between the grids and the coordinates by dividing the space to be moved into a plurality of grids, there is a problem that curved traveling or oblique traveling can not be implemented accurately . That is, a disadvantage is that a martial arts vehicle that travels through a virtual map without a physical trajectory travels along a route on a map that is divided into only a square shape grid, which is not natural and can not be moved to a shortest path at a desired point . Accordingly, there is a need to develop a map setting method of a rudderless unmanned vehicle capable of setting a more natural and efficient traveling route.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-described problems, and it is an object of the present invention to provide a method and apparatus for providing a link attribute corresponding to each node characteristic for each node, An object of the present invention is to provide a trackless unmanned transportation vehicle capable of performing various traveling events through a map on which a traveling route is set, thereby making it possible to set travel routes of various methods more accurately and economically.

In order to accomplish the above object and to solve the problems of the related art, a martial arts vehicle according to one embodiment of the present invention corresponds to a space in which a martial arts vehicle moves, A map storage unit for storing a map to which a coordinate value is assigned for each of the first to Nth nodes; A node information setting unit that holds station node information, branch node information, or base node information given to any one or more of the first node to the Nth node; A link information setting unit for holding straight link information, curved link information, or omnidirectional link information given to each of at least one of the first node to the Nth node, And a navigation algorithm of the martial arts unmanned transportation vehicle, which is set through node information given for each node and link information given for each link, and controls the running of the unmanned transportation vehicle according to the traveling algorithm And a driving control unit.

Further, in the trackless unmanned conveyance vehicle according to an embodiment of the present invention, the station node information includes transfer event information of the martial arts vehicle, and the branch node information includes at least two links connected to the branch node And the base node information includes reference point information on a curve running or a slant running of the martial arts vehicle.

Also, in the trackless unmanned conveyance vehicle according to an embodiment of the present invention, the straight link information includes information on a straight running, and the curved link information includes curved running radius information having a base node as a reference point, The omnidirectional link information includes oblique running angle information having a base node as a reference point.

Also, in the tracked unmanned vehicle according to the embodiment of the present invention, the traveling algorithm may include start node information, end node information, parking time information corresponding to the station node, traveling direction selection information corresponding to the branch node, Corresponding curve link information or forward link information, linear velocity information corresponding to a linear link, curve velocity information corresponding to a curved link, and diagonal velocity information corresponding to a forward link, and each node included in a traveling section Node information and link-via information for each link.

According to the trackless unmanned vehicle according to the present invention, each node attribute is assigned to each node, each link attribute is assigned to each link connecting each node, and a traveling route is set through node information and link information, It is possible to construct a map for allowing the transportation vehicle to move along a traveling path that is natural and highly efficient.

Further, according to the present invention, a laser scanner can be applied to facilitate the easy installation and layout change, which is an advantage of the laser system, and addition of a gyro and an encoder Absolute position coordinates are measured, maps are constructed, and effects are obtained by increasing the reliability of the automatic guided vehicle (AGV) traveling along a virtual path created by software.

1 is a view illustrating a martial arts vehicle according to an embodiment of the present invention.
2 is a block diagram illustrating a configuration of a control system of a martial arts vehicle according to an embodiment of the present invention.
3 is a view showing an example of a traveling route of an unmanned unmanned conveyance vehicle set according to an embodiment of the present invention.
4 is a view illustrating a steering system according to a traveling algorithm of a martial arts unmanned vehicle according to an embodiment of the present invention.

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

1 is a view illustrating a martial arts vehicle according to an embodiment of the present invention.

According to an embodiment of the present invention, the space in which the martial arts vehicle 100 is moved may be mapped to a virtual map without a physical trajectory. The martial arts vehicle 100 may operate to map its current position to the virtual map and to move in accordance with the running path algorithm set in the virtual map. Recognition of the current position of the unmanned vehicle 100 can be realized through the laser scanner 120 and the reflector 140. [ In addition, the current position recognition of the unmanned vehicle 100 may be implemented through a gyro sensor and an encoder. The method of recognizing the current position can be implemented by various methods widely used in the art.

A lifter 110 for lifting and lowering an article by mounting thereon a product, a mount 121 for mounting the laser scanner 120, a travel control unit, and a current position recognizing unit are shown. Then, the laser scanner 120 rotates at 7 Hz, for example, and projects the laser beam 130 to at least one reflector 140 adhered to the wall of the factory to determine the distance and the azimuth. At least one reflection plate 140 is installed within 30 m, and the resolution of each direction (angle) can be 0.1 degree or less, and the resolution of the distance is about 1 m.

2 in which the control system 200 of the tetherless vehicle 100 is displayed, the map storage unit 210 receives information on the angle and distance of the at least one reflector 140 recognized from the laser scanner 120 At the time of start-up, it is determined that the rider (100) is stopped, and the current position and orientation of the rider (100) are calculated.

After the start of the self-standing travel, the position and orientation of the rider (100) obtained in the last rotation are stored, and information on the angle and distance of the at least one reflector (140) from the laser scanner The speed and the angular speed of the riding vehicle 100 are obtained, and the current position and the bearing are obtained by integrating (integrating and integrating) the speed and the angular speed from the previous recognition point to the present.

2, a map storage unit 210 storing the location of one or more reflection plates 140 installed along the traveling path may be generated. The map storage unit 210 calculates the current position based on the data of the node information setting unit 220 and the link information setting unit 230 and the laser scanner 120, Time alignment can be done. The current position is obtained by converting the time on the timer to the time on the timer of the travel control unit 240 and setting one or more of the reflector 140 recognized by the laser scanner 120 to the node information setting unit 220, It is possible to specify what kind of reflector 140 is on the portion 230.

The unirradiated vehicle 100 can recognize and indicate the position and orientation of the reflection plate 140 at the time of starting. In this process, the martial arts vehicle 100 can be regarded as being stopped. For example, it represents a temporary specification of the reflector 140 when three reflectors 140 installed at each position are sequentially recognized. The angle between the distance between the first reflector 140 and the second reflector 140 is measured and the distance between the reflector 140 and the reflector 140 is determined by the cosine theorem, It can be obtained by angle. Next, when the third reflector 140 is checked, the length of each side of the triangle formed by the three reflectors 140 is determined, and the shape of the triangle is completely determined.

If the initial position and orientation of the unmanned unmanned vehicle 100 are determined at the time of autonomous driving, the unirradiated unmanned vehicle 100 starts to run self-sustainedly. The initial position can be measured again if there is a problem in recognizing the current position in the self-sustaining running process.

In addition, the martial arts vehicle 100 determines the current position and orientation to detect the speed or the angular velocity, adjusts the time constantly at predetermined intervals to the travel control unit 240, and recognizes the time at the travel control unit 240 have.

2 is a block diagram illustrating a configuration of a control system of a martial arts vehicle according to an embodiment of the present invention.

A map storage unit that corresponds to the space in which the martial arts vehicle (100) moves in the control system (200) and maintains a map to which coordinate values are assigned for each of the first to Nth nodes generated by grid division, Lt; RTI ID = 0.0 > 210 < / RTI > The marshalling vehicle 100 can be automatically traveled by transmitting position information to the driving control unit 240 through the route setting and user interface.

A node information setting unit 220 for holding the station node information, the branch node information, or the base node information given to each of the first to the N-th nodes may be generated. A link information setting unit 230 for holding straight link information, curved link information, or omnidirectional link information given to each of at least one of the first node to the Nth node, .

The algorithm of the traveling of the martial arts vehicle maneuvering vehicle 100, which is set through the node information given to each of the nodes and the link information given for each link, is maintained, and the traveling algorithm of the martial arts vehicle A running control section 240 for controlling running can be set. The travel controller 240 may include a travel controller, a motor controller, and a position meter. The motor controller can control the driving force of the motor through the signal received from the traveling controller. The position measuring device may include a laser scanner 120, a gyroscope, and an encoder.

The control system 200 may further include a vehicle controller. The vehicle controller can directly or remotely receive the command to the traveling controller by receiving the direct or remote command from the trackless unmanned conveying vehicle 100 through the route setting transmitted from the map storage unit 210. [ The control system 200 may further include an upper controller. The host controller may include a communication module and a vehicle PLC (programmable logic control). The vehicle PLC may include various switches, safety devices, and obstacle sensors. The vehicle PLC connects all of the I / Os except the sensor associated with the traveling of the tetherless vehicle 100, and performs sequence control with respect to power management, safety devices, and transfer materials. And may be connected to the host controller via a wired / wireless network.

3 is a view showing an example of a traveling route of an unmanned unmanned conveyance vehicle set according to an embodiment of the present invention.

According to an embodiment of the present invention, a traveling path algorithm can be configured as a connection between a node and a link. Each node may be assigned a unique node attribute. That is, each node can be set as a station node, can be set as a branch node, can be set as a base node, and can be set as a connection node.

The station node may be implemented as a point at which an unmanned unmanned vehicle carries out a transfer re-event. The branch node may be connected to three or more links and may be implemented at a point where the traveling path of the tetherless vehicle is diverged into two or more paths. The base node may be implemented as a reference point for setting the curve radius of the curved link, or may be implemented as a reference point for setting the diagonal angle of the oblique link. The connection node may be implemented at a point where each link is connected, for example, a point at which a curved link and a straight link are connected, or a point at which a straight link is connected to a diagonal link. Also, the connection node may be implemented at a point where an event required by an administrator is generated even if a connection event between links is not given.

Each link can be given a unique link attribute. That is, each link can be set as a straight link, can be set as a curved link, and can be set as a forward link. The straight link may be implemented as coordinate information for points located on a straight path that the rudderless unmanned vehicle runs. The curved link can be implemented with coordinate information for points located in the curved path that the rudderless unmanned vehicle travels. Also, the curved link may include information about the base node. That is, it may include information about a base node that is implemented as an origin of a curved path and sets a radius of the curved path. The omnidirectional link may be implemented as coordinate information for points located on an oblique path on which a rudderless unmanned vehicle is traveling. In addition, the diagonal link may include information about the base node. That is, it may include information about a base node that is implemented as a destination of a slant path and sets a slant angle of the slant path.

3, the travel route algorithm includes node 0 310, node 1 311, node 2 312, node 3 313, node 4 314, Node 5 315, node 6 316, node 7 317, node 8 318, node 9 319, node 10 320, node 11 321, node 12 322, node 13 Node 323, node 14 324, node 15 325, node 16 326, node 17 327.

The traveling route algorithm includes a link 1 411, a link 2 412, a link 3 413, a link 4 414, a link 5 415, a link 6 416, a link 7 417, 8 418, Link 9 419, Link 10 420, Link 11 421, Link 12 422, Link 14 423, Link 14 424, Link 15 425, Link 16 426, and a link 17 (427).

Node 0 310 may be implemented as a station node at which the rerun event is performed as the start node for the starting point of the tetherless vehicle. Node 1 311 may be implemented as a branch node to which link 1 411, link 2 412, and link 10 420 are connected. Node 2 312 may be implemented as a branch node to which link 2 412, link 3 413, and link 11 421 are connected. Node 3 313 may be implemented as a connection node to which link 3 413 and link 4 414 are connected.

Node 4 314 may be implemented as a connection node to which link 4 414 and link 5 415 are connected. Node 5 315 may be implemented as a connection node to which link 5 415 and link 6 416 are connected. Node 6 316 may be implemented as a branch node to which link 6 416, link 13 423, link 12 422, and link 7 417 are connected. Node 7 317 may be implemented as a connection node to which link 12 422 and link 11 421 are connected. At the same time, node 7 317 may be implemented as a base node corresponding to link 5 415.

Node 8 318 may be implemented as a base node corresponding to link 7 417. Node 9 319 may be implemented as a base node corresponding to link 12 (422). Node 10 320 may be implemented as a connection node to which link 7 417 and link 8 418 are connected. At the same time, node 10 (320) may be implemented as a base node corresponding to link 15 (425). The node 11 321 may be implemented as a station node which is a connection node connecting the link 8 418 and the link 9 419 and in which the transfer event of the martial arts vehicle is set.

Node 12 322 may be implemented as a base node corresponding to link 10 420 while being a connection node connecting link 9 419 and link 10 420. Node 13 323 may be implemented as a connection node connecting link 13 423 and link 14 424. Node 14 324 may be implemented as a connection node connecting link 14 424 and link 15 425. Node 15 325 may be implemented as a connection node connecting link 15 (425) and link 16 (426). Node 16 326 may be implemented as a connection node connecting link 16 (426) and link 17 (427). The node 17 (327) may be implemented as a station node, which is an end node indicating the end point of the traveling path and in which the relocation event is performed.

Link 1 411 may be implemented as a straight link connecting node 0 310 and node 1 311. Link 2 412 may be implemented as a straight link connecting node 1 311 and node 2 312. Link 3 413 may be implemented as a straight link connecting node 2 312 and node 3 313. Link 4 414 may be implemented as a straight link connecting node 3 313 and node 4 314. Link 5 415 may be implemented as a curved link with node 7 317 as the base node connecting node 4 314 and node 5 315.

Link 6 416 may be implemented as a straight link connecting node 5 315 and node 6 315. Link 7 417 may be implemented as a curved link that connects node 6 315 and node 10 320 and node 8 318 as a base node. Link 8 418 may be implemented as a straight link connecting node 10 320 and node 11 321. Link 9 419 may be implemented as a straight link connecting node 11 321 and node 12 322.

Link 10 420 may be implemented as a diagonal link with node 12 322 or node 1 311 as the base node while connecting node 12 322 and node 1 311. Link 11 421 may be implemented as a straight link connecting node 2 312 and node 7 317. Link 12 422 may be implemented as a curved link with node 9 319 as the base node connecting node 7 317 and node 6 316.

Link 13 423 may be implemented as a straight link connecting node 6 316 and node 13 323. Link 14 424 may be implemented as a straight link connecting node 13 323 and node 14 324. Link 15 425 may be implemented as a curved link that connects node 14 324 and node 15 325 to node 10 320 as a base node. Link 16 426 may be implemented as a straight link connecting node 15 325 and node 16 326. Link 17 427 may be implemented as a straight link connecting node 15 326 and node 17 327.

A traveling path algorithm can be established through the configuration and placement of these nodes and links. For example, after the martial arts vehicle has performed a transfer re-event at node 0 310, it transmits to node 2 312 via link 1 411, node 1 311, and link 2 412 Can arrive. The martial arts unmanned conveyance vehicle is connected via node 3 312 via link 3 413, node 3 313, link 4 414, link 5 415, node 5 315, link 6 416 May arrive at node 6 316.

The martial arts vehicle may arrive at node 11 321 via link 7 417, node 10 320 and link 8 418 at node 6 316. The martial arts vehicle may arrive at node 1 311 via link 9 419, node 12 322 and link 10 420 after performing a transfer event at node 11 322. The martial arts unmanned conveyance vehicle is connected to the node 6 316 via the link 2 412, the node 2 312, the link 11 421, the node 7 317 and the link 12 422 at the node 1 311 Can arrive.

The martial arts unmanned conveyance vehicle has a link 13 423, a node 13 323, a link 14 424, a node 14 324, a link 15 425, a node 15 325, a link 16 Node 16 326, link 17 427, node 16 326, and link 17 427, respectively. The martial arts vehicle can perform the transfer event at the node 17 (327).

4 is a view illustrating a steering system according to a traveling algorithm of a martial arts unmanned vehicle according to an embodiment of the present invention.

The steering system according to the traveling algorithm of the martial arts vehicle 100 according to the present invention is shown. The traveling algorithm, which has received the moving route from the vehicle controller, can control the automatic landing unmanned vehicle 100 to be automatically traveled to the target point. The steering algorithm may be implemented by one steering one steering system and two steering two steering systems. Fig. 4 (a) shows a battery and a steering system running in reverse. Fig. 5 (b) shows the steering system that travels to the left and right. Figure (c) shows the steering system that is running in the diagonal direction. Fig. 4 (d) shows the steering system that is rotating.

The algorithm for setting the traveling route algorithm of the trackless unmanned vehicle according to the present invention may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. The medium may be a transmission medium such as an optical or metal line, a wave guide, or the like, including a carrier wave for transmitting a signal designating a program command, a data structure, or the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. This is possible.

Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the equivalents of the claims, as well as the claims.

100: Unleaded unmanned vehicle 110: Lifter
120: laser scanner 121:
130: laser beam 140: reflector
200: control system 210: map storage unit
220: node information setting unit 230: link information setting unit
240: Driving control unit 300: Traveling path algorithm
310: node 0 311: node 1
312: node 2 313: node 3
314: node 4 315: node 5
316: Node 6 317: Node 7
318: node 8 319: node 9
320: node 10 321: node 11
322: node 12 323: node 13
324: node 14 325: node 15
326: node 16 327: node 17
411: Link 1 412: Link 2
413: Link 3 414: Link 4
415: Link 5 416: Link 6
417: Link 7 418: Link 8
419: Link 9 420: Link 10
421: Link 11 422: Link 12
423: Link 13 424: Link 14
425: Link 15 426: Link 16
427: Link 17

Claims (4)

A map storage unit corresponding to a space where the martial arts vehicle is moving and holding a map to which coordinate values are assigned for each of first to Nth nodes generated by grid division;
Wherein the station node information includes at least one of station node information, branch node information, and base node information that are respectively assigned to any one of the first node to the Nth node, Information about two or more links connected to a branch node included in the branch node information, and a node information setting unit for holding reference point information about a curved running or a slant running of the martial arts vehicle included in the base node information, ;
A link information setting unit for holding straight link information, curved link information, or omnidirectional link information given to each of at least one of the first node to the Nth node, And
Wherein the navigation algorithm of the martial arts unmanned transportation vehicle is set through node information assigned to each of the nodes and link information given for each of the links and the traveling algorithm for controlling the traveling of the unmanned transportation vehicle according to the traveling algorithm The control unit
Wherein the unmanned vehicle comprises: delete The method according to claim 1,
Wherein the straight link information includes information on a straight running, the curved link information includes curved running radius information having a base node as a reference point, and the forward link information includes oblique running angle information having a base node as a reference point Wherein the vehicle is an unmanned vehicle. The method according to claim 1,
The traveling algorithm includes at least one of a start node information, end node information, parking time information corresponding to the station node, travel direction selection information corresponding to the branch node, curved link information or forward link information corresponding to the base node, Speed information, curve speed information corresponding to a curved link, and oblique speed information corresponding to a forward link, and includes node-via information for each node included in the running section and link-via information for each link Unmanned transport vehicle.

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