Systems and methods for operating automated guided vehicles and autonomous mobile robots

Abstract

A system and method for operating automated guided vehicles (AGVs) and autonomous mobile robots are disclosed. The system for operating AGVs includes: an AGV that loads components in a vehicle manufacturing plant and transfers the components along a set travel path; a programmable logic controller (PLC) located on a production line and at each of a plurality of nodes present on the travel path, and controlling peripheral automation facilities; and an operation server configured to control the operation of the AGV and each automation facility via the PLC, and to set PLC control conditions for controlling each automation facility in each segment by collecting PLC memory data from the PLC and querying the PLC memory data based on the movement position of the AGV when setting the travel path.

Description

[0001] Cross-references to related applications

[0002] This application claims priority to Korean Patent Application No. 10-2020-0175974, filed on December 16, 2020, the entire contents of which are incorporated herein by reference for all purposes. Technical Field

[0003] The present invention relates to systems and methods for operating automated guided vehicles, and more particularly, to systems and methods for operating automated guided vehicles by performing PLC memory control on each moving position of an industrial transport vehicle. Background Technology

[0004] In smart factory-based vehicle production plants, various components are assembled through modular automated processes. Furthermore, automated guided vehicles (AGVs) are operated to smoothly transfer components between each process. During automation, if the supply of components is interrupted during operation, the production line shuts down, which adversely affects productivity. Therefore, it is crucial to use AGVs to move components to the correct location at the right time.

[0005] An AGV carrying components moves to its destination along a guide line set on the ground. For example, the AGV moves along a set transfer path using sensors that detect the magnetic force of the magnetic guide line. In the transfer path, multiple nodes that the AGV essentially needs to pass through from its starting point to its destination can be sequentially set.

[0006] At the same time, when AGVs are typically introduced for operating factory lines, there is no technology for operating AGVs that meets the operating conditions of various surrounding facilities for each process, and therefore there are problems such as interference or collisions between AGVs and process facilities, as well as frequent AGV stoppage events.

[0007] In addition, there is a common problem that operators cannot immediately know when an AGV stops, or even if they do recognize the stop event, they may have difficulty identifying the cause of the stop event.

[0008] The information disclosed in the background section of this invention is only intended to enhance the understanding of the general background of the invention and should not be construed as an admission or in any way implying that such information constitutes prior art known to those skilled in the art. Summary of the Invention

[0009] Various aspects of the present invention relate to providing a system and method for operating automated guided vehicles (AGVs), the method collecting status information of programmable logic controllers (PLCs) arranged in a vehicle manufacturing plant, setting PLC memory values ​​according to the settings of the AGV's operating path to interact with the PLCs of each segment, and controlling the operation of facilities in each segment by the PLCs according to the moving position of the AGVs.

[0010] Various aspects of the present invention relate to providing a system for operating an automated guided vehicle, the system comprising: an automated guided vehicle (AGV) that loads components in a vehicle manufacturing plant and transfers the components along a set travel path; a programmable logic controller (PLC) disposed in a production line and at each of a plurality of nodes present on the travel path and controlling peripheral automation facilities; and an operation server configured to control the operation of the AGV and automation facilities via the PLC, and to set PLC control conditions for controlling the automation facilities in each segment by collecting PLC memory data from the PLC and querying the PLC memory data based on the movement position of the AGV when setting the travel path.

[0011] In addition, the AGV may include: a transfer module configured to receive a travel path according to the work assignment of the operation server and transfer the movement position during travel; and a drive module configured to store the factory map MAP and the coordinates of the AGV for each node to be moved to, and control the drive unit to control the movement on the transfer path.

[0012] In addition, the travel path may include multiple nodes, which include the starting point, one or more passing points, and the destination that the AGV needs to travel to in sequence.

[0013] In addition, the travel path can include: a supply path, in which components are transferred from the component warehouse to the production line based on the coordinate system of the factory mapping MAP; and a return path, in which the AGV returns in reverse order.

[0014] In addition, the PLC may include a PLC memory controller, in which conditional statement-based programs for controlling the operation of the automation facility are stored, and log information based on the current operating status and operation history of the automation facility is stored in the PLC memory.

[0015] In addition, the PLC memory controller can identify the operating status of the automated facility and the movement position of the AGV, and control the operation or stop of the automated facility based on whether the conditions set in the PLC memory are met.

[0016] In addition, the operation server may include: a PLC communication module configured to collect each set PLC memory data by communicating with the PLC; an AGV communication module configured to collect the real-time movement position of the AGV by communicating with the AGV; a path setting unit configured to generate travel paths for the AGVs used to transfer components for each production line; a travel condition setting unit configured to set the PLC memory address and PLC control conditions of the PLC memory for the operation of the automation facility in each segment according to the travel path, and to set the AGV travel conditions that interact with the PLC control conditions; a database (DB) storing various programs and PLC memory data for operating the AGVs; and a controller configured to control the general operation of each unit operating the AGVs and to control the operation of the automation facility by specifying the PLC memory address of the PLC for each segment according to the movement position of the AGV and transmitting the PLC control conditions.

[0017] In addition, the driving condition setting unit may include a user interface (UI) in which the input environment for setting PLC control conditions and AGV driving conditions for each node of the driving path is programmed.

[0018] In addition, the UI of the driving condition setting unit can display a screen on the monitor for users to set PLC control conditions. This screen includes a starting point condition setting module, a passing point condition setting module, and an ending point condition setting module for the driving path.

[0019] In addition, the UI of the driving condition setting unit can refer to the collected PLC memory data, query the PLC control conditions registered as the starting point, passing point and the destination based on the AGV's movement position on the driving path, and display the PLC control conditions to the user.

[0020] In addition, the UI of the driving condition setting unit can perform pre-monitoring by checking whether the PLC memory value set according to the PLC control conditions meets the operation of the AGV, and when the PLC memory value set according to the PLC control conditions does not meet the operation of the AGV, the UI of the driving condition setting unit can display the error by color and issue an alarm to the user.

[0021] In addition, the UI of the driving condition setting unit can set interlocking control conditions, which temporarily stop the AGV or the processing facility when it is in operation before the AGV reaches the end of the driving path.

[0022] Various aspects of the present invention relate to a method for operating an Automated Guided Vehicle (AGV), wherein an operation server in a vehicle manufacturing plant transfers components, the method comprising: a) selecting an AGV considering the type and size of the component when a component transfer operation is planned, and generating a travel path from a start point to an end point of the AGV; b) collecting memory data from each programmable logic controller (PLC) configured to operate and control the surrounding automation facilities at each of a plurality of nodes on the travel path; c) querying the PLC memory data and setting PLC control conditions for operating the automation facilities of each segment based on the movement position of the AGV; and d) transmitting the PLC control conditions matching the memory addresses of the PLCs of each segment, and transmitting the travel path and the operating conditions of each segment to the AGV.

[0023] In addition, operation c) may include adding interlocking control conditions based on the movement position to selectively stop the facility via the AGV or PLC immediately before the AGV enters one of the multiple nodes.

[0024] In addition, operation c) may include checking whether the operation of the AGV in each section meets the PLC control conditions when setting PLC control conditions.

[0025] In addition, checking whether the operation of each AGV segment meets the PLC control conditions may include: when any of the set PLC control conditions are not met, an alarm is triggered to indicate the change in the corresponding condition setting, and the setting change is displayed on the monitor to change the PLC condition settings.

[0026] Furthermore, the method may further include, after operation d), when a stop event occurs while the AGV is traveling, changing the PLC memory value of the corresponding segment PLC to a value that satisfies the AGV's travel and transmitting the changed value.

[0027] Various aspects of the present invention relate to providing a system for operating an autonomous mobile robot (AMR), the system comprising: an AMR that loads components in a vehicle manufacturing plant and transfers components along a set travel path; a programmable logic controller (PLC) configured to be present at each of a plurality of nodes in the production line and the travel path and to control surrounding automated facilities; and an operation server configured to control the operation of the AMR and the automated facilities via the PLC, and to set PLC control conditions for controlling the automated facilities in each segment by collecting PLC memory data from the PLC and querying the PLC memory data based on the movement position of the AMR when setting the travel path.

[0028] According to an exemplary embodiment of the present invention, by collecting PLC status information of each process when a new task is introduced, and automatically setting PLC memory values ​​according to the AGV's travel path settings to interact with the facilities of each section, the efficiency of the work used to operate the AGV can be improved.

[0029] Furthermore, when introducing new components to transfer or assign work, by checking in advance whether the currently set PLC control conditions meet the AGV's operation during the operation of setting driving conditions through path generation, it is possible to prevent dangerous factors generated based on the actual operation of the AGV.

[0030] Furthermore, by having a central operations server monitor the operational status of AGVs and automated facilities via PLC and control the immediate changes in PLC control conditions used to generate stop events for AGVs, components can be smoothly supplied to the correct locations at the right time.

[0031] The methods and apparatus of the present invention have other features and advantages that will be apparent or set forth in more detail from the accompanying drawings and the following detailed description, which together serve to explain certain principles of the invention. Attached Figure Description

[0032] Figure 1 This is a conceptual diagram illustrating a system for operating an automated guided vehicle applied to a production line according to various exemplary embodiments of the present invention.

[0033] Figure 2 This is a block diagram schematically illustrating the configuration of a system for operating an automated guided vehicle according to an exemplary embodiment of the present invention.

[0034] Figure 3 and Figure 4 This is an illustration of an example of a screen for setting programmable logic controller (PLC) control conditions and interlocking control conditions via the UI of a driving condition setting unit according to an exemplary embodiment of the present invention.

[0035] Figure 5 This is a flowchart schematically illustrating a method of operating an AGV by an operation server according to various exemplary embodiments of the present invention.

[0036] Figure 6 This is a block diagram schematically illustrating the configuration of a system for operating an autonomous mobile robot according to various exemplary embodiments of the present invention.

[0037] It is understood that the accompanying drawings are not necessarily drawn to scale and present slightly simplified representations of various features illustrating the basic principles of the invention. Specific design features of the invention disclosed herein (e.g., including specific dimensions, orientations, positions, and shapes) will be determined in part by the specific intended application and environment of use.

[0038] In the accompanying drawings, reference numerals refer to the same or equivalent parts of the invention throughout the drawings. Detailed Implementation

[0039] Reference will now be made in detail to various embodiments of the invention, examples of which are illustrated in the accompanying drawings and described below. While the invention will be described in conjunction with exemplary embodiments thereof, it should be understood that this description is not intended to limit the invention to those exemplary embodiments. On the other hand, the invention is intended to cover not only the exemplary embodiments thereof, but also various alternatives, modifications, equivalents and other embodiments that may be included within the spirit and scope of the invention as defined by the appended claims.

[0040] In the following detailed description, only certain exemplary embodiments of the invention are shown and described by way of illustration. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this disclosure. Therefore, the drawings and description are to be regarded as illustrative rather than restrictive. Throughout the specification, similar reference numerals denote similar elements.

[0041] Throughout this specification, unless explicitly stated otherwise, the word "comprise" and variations such as "comprises" or "comprising" shall be understood to imply inclusion of the stated elements, but not exclusion of any other elements. Furthermore, the terms "-er," "-or," and "module" as described in this specification refer to a unit for performing at least one function and operation, and may be implemented by hardware components or software components and combinations thereof.

[0042] Throughout this specification, terms such as first, second, A, B, (a), and (b) may be used when describing the constituent elements of the invention, but the constituent elements are not limited by these terms. Such terms are only used to distinguish one constituent element from another and do not limit the essential characteristics.

[0043] Throughout this specification, it should be understood that when a component is referred to as "coupled to" or "connected to" another component, the component may be directly coupled to or connected to the other component, but intermediate components may also be present. Conversely, when a component is "directly coupled to" or "directly connected to" another component, it should be understood that no intermediate components are present.

[0044] The terminology used in the exemplary embodiments of this invention is for describing particular embodiments only and is not intended to limit the scope of this disclosure. Singular expressions include plural expressions unless they are specifically described to the contrary in the context.

[0045] In this application, it should be understood that the terms "comprising" and "having" are intended to indicate the presence of the features, quantities, steps, operations, constituent elements and components or combinations thereof described in the specification, and do not preclude the possibility of the presence or addition of one or more other features, quantities, steps, operations, constituent elements and components or combinations thereof.

[0046] Unless otherwise defined in exemplary embodiments of the invention, all terms used herein (including technical or scientific terms) have the same meaning as commonly understood by those skilled in the art. Terms defined in general dictionaries should be interpreted as having a meaning that matches the term in the context of the prior art, and should not be interpreted as having an idealized or overly formal meaning unless expressly defined in this application.

[0047] Systems and methods for operating automatically guided vehicles according to various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0048] Figure 1 This is a conceptual diagram illustrating a system for operating an automated guided vehicle applied to a production line according to various exemplary embodiments of the present invention.

[0049] Figure 2 This is a block diagram schematically illustrating the configuration of a system for operating an automated guided vehicle according to an exemplary embodiment of the present invention.

[0050] refer to Figure 1 and Figure 2 The system 1 for operating an automated guided vehicle according to an exemplary embodiment of the present invention can be applied to the automation process of a vehicle manufacturing plant (e.g., a smart factory).

[0051] System 1 for operating automated guided vehicles may include: programmable logic controllers 10 (10a, 10b, 10c) that directly control the automation facilities for various processes of assembling components; automated guided vehicles (hereinafter referred to as "AGVs") 20 that transfer components; and an operation server 30 that operates the AGV 20 and controls the automation facilities via the PLC 10.

[0052] PLC 10 is configured for each production line (e.g., process A, process B, and process C) and includes a PLC memory controller 11 that controls the automation facilities required for assembling components under operating conditions loaded into the PLC memory. Here, the automation facilities (also referred to below as "process facilities") may include at least one of the following: robots, conveyors, component lifting / transfer devices, fixtures, and component inventory identification devices disposed in the production line.

[0053] The PLC 10 can control not only the automation facilities installed on the production line, but also the automation facilities installed at the nodes through which the AGV 20 passes by the transfer components. For example, the PLC 10 can open or close doors for the AGV 20 to enter and leave the compartment during the painting process. Furthermore, the PLC 10 can also control the AGV 20's elevators to move floors in a building-type factory.

[0054] The PLC memory controller 11 loads a conditional statement-based program for controlling the operation of an automated facility consisting of mechanical equipment, and stores log information based on the operating status and operation history of the automated facility in the PLC memory.

[0055] The PLC memory controller 11 can identify the operating status of the automated facility and the movement position (position and direction) of the AGV 20, and operate or stop the automated facility according to the program loaded into the PLC memory.

[0056] For example, when the PLC memory controller 11 detects that the AGV 20 has entered the corresponding processing section during the operation of the processing facility, the PLC memory controller 11 can execute interlock control, which temporarily stops the operation of the processing facility to prevent interference or collision with the AGV 20. Furthermore, when the PLC memory controller 11 detects that the AGV 20 has entered the corresponding processing section during the operation of the processing facility, the PLC memory controller 11 can transmit the operating status of the processing facility to the AGV 20 and execute interlock control to temporarily stop the AGV 20. The interlock control between the PLC memory controller 11 and the AGV 20 can be achieved through the PLC memory settings of the operating server 30.

[0057] The AGV 20 can transfer components along a travel path set by the operation server 30, and may include a sensor for detecting the magnetic force of the magnetic guide wire, a communication module 21, and a drive module 22.

[0058] The communication module 21 communicates with the operation server 30 via a wireless relay device and receives the travel path of the AGV 20 according to the task assignment from the operation server 30.

[0059] The travel path includes multiple nodes, which include the starting point, one or more transit points, and the ending point for the AGV 20. Furthermore, there are link segments connecting the nodes in the travel direction of the AGV 20.

[0060] For example, refer to Figure 1 Suppose AGV 20 loads components in component warehouse N12 and moves through multiple nodes, process A, N41. In this case, the travel path of AGV 20 can be set as N12-N22-N32-N31-N41. That is, based on the identification information (ID) of each node, the travel path of AGV 20 can be set in the order of starting point N12, passing through points N22, N32 and N31, and ending point N41.

[0061] The communication module 21 of AGV 20 can identify markers placed in the driving path or detect the moving position of AGV 20 through differential global positioning system (DGPS), and transmit the identified markers or detected moving position to the operation server 30.

[0062] In addition, the communication module 21 of AGV 20 can send and receive status information of PLC 10 existing in the driving path based on the moving position of AGV 20.

[0063] The drive module 22 of AGV 20 stores the factory mapping MAP and the coordinates of the nodes that AGV 20 can move to, and controls the drive unit of AGV 20, including the motor, so that AGV 20 is configured to move along the travel path.

[0064] The drive module 22 includes a controller and memory for controlling the AGV 20, and can identify the position of the AGV 20 and the status information of the PLC 10 present on the AGV 20's travel path, and control the AGV 20 according to the set program. The control of the AGV 20 includes interlock control.

[0065] According to an exemplary embodiment of the present invention, the operation server 30 is a determination system for controlling the operation of an AGV 20 in a central vehicle production plant.

[0066] The operation server 30 identifies process information by collecting PLC memory data from the PLCs 10 deployed for each process in the vehicle production plant. When a travel path for transferring components is set, it queries the PLC memory data based on the movement position of the AGV 20 and sets PLC control conditions for controlling the operation of the automation facilities in each segment. Here, the segment refers to the path between nodes of the AGV 20's travel path.

[0067] The operation server 30 may include a communication unit 31, a route setting unit 32, a driving condition setting unit 33, a database (DB) 34, and a controller 35.

[0068] The communication unit 31 includes a PLC communication module 31a that performs wired or wireless communication with a PLC 10 operating in the vehicle production plant, and an AGV communication module 31b that performs wired or wireless communication with an AGV 20.

[0069] The PLC communication module 31a collects data loaded into the memory of each PLC by communicating with the PLC 10. The data loaded into the PLC memory includes the PLC control conditions used to operate the corresponding automation facilities.

[0070] When a new process is introduced or an existing process is changed, the PLC communication module 31a can transmit the PLC control conditions set according to the travel path of the AGV20 to the PLC 10.

[0071] The AGV communication module 31b collects the real-time movement position of the AGV 20 through wireless communication with the AGV 20.

[0072] In addition, the AGV communication module 31b can transmit AGV driving conditions to the AGV 20, which are used to communicate the driving path generated for the transfer components with the PLC 10 located at each node.

[0073] The path setting unit 32 generates the travel path of the AGV 20 operating in the vehicle production plant.

[0074] The path setting unit 32 can generate the travel path of the AGV 20 required for each process transfer component. For example, assuming it is located in... Figure 1 When AGV 20 in component warehouse N12 is loaded with components and moves to process N41 via multiple nodes, the travel path of AGV 20 can be set to N12-N22-N32-N31-N41.

[0075] Taking into account the location of each process and the size of the components, a travel path can be set for the coordinates of each node that the AGV 20 can move to on the factory mapping MAP. Furthermore, the travel path can include: a supply path, where components are transferred from the component warehouse to a specific production line; and a return path, through which the AGV returns in reverse order.

[0076] The driving condition setting unit 33 sets the memory address of the PLC memory and the PLC control conditions for controlling the operation of the automation facilities in each section according to the driving path generated by the path setting unit 32, and sets the AGV driving conditions that interact with the PLC control conditions.

[0077] The driving condition setting unit 33 includes a user interface (UI) in which the input environment for setting PLC control conditions and AGV driving conditions is programmed.

[0078] Figure 3 and Figure 4 This is an illustration of an example of a screen for setting PLC control conditions and interlocking control conditions via the UI of a driving condition setting unit according to an exemplary embodiment of the present invention.

[0079] refer to Figure 3 When the AGV 20 travel path is generated in the path setting unit 32, the travel condition setting unit 33 can set the automated facilities and AGV travel conditions at the start point, through point and end point.

[0080] The driving condition setting unit 33 can take into account the movement position of the AGV 20 and specify the memory values ​​set in the PLC memory of each PLC 10 as condition values. For example, when the memory value input to each memory address of the PLC memory is true or false, the PLC control conditions can be set using a combination of memory values. The combination conditions can be AND or OR conditions. The PLC control conditions can include the memory values ​​input to each memory address of the PLC memory and the combination conditions.

[0081] In this case, the driving condition setting unit 33 identifies whether the PLC control conditions set in a specific process meet the operation (or driving conditions) of the AGV 20, and when the PLC control conditions do not meet the operation (or driving conditions) of the AGV 20, the driving condition setting unit 33 can generate an alarm.

[0082] Furthermore, when a stopping problem (event) occurs at a specific node or in a section between nodes while the AGV 20 is moving, the driving condition setting unit 33 can change the PLC memory value of the corresponding PLC 10 to a value that satisfies the driving of the AGV 20, and transmit the changed value.

[0083] The driving condition setting unit 33 may include a start point condition setting module 33a, a transit point condition setting module 33b, and an end point condition setting module 33c. The UI of the driving condition setting unit 33 can display these modules, allowing the operator to set PLC control conditions. As needed, the UI of the driving condition setting unit 33 can display the driving path set in the path setting unit 32.

[0084] The UI of the driving condition setting unit 33 queries and displays the PLC control conditions that have been stored in the automated facilities arranged at the starting point, multiple pass points and the end point, based on the movement position of the AGV 20 on the driving path by referring to the collected PLC memory data.

[0085] When the travel path used to operate AGV 20 is assumed to be N12-N22-N32-N31-N41, the starting condition setting module 33a sets the PLC starting conditions for operating AGV 20 at the starting point N12.

[0086] The PLC start conditions can be multiple PLC control conditions, including operations such as checking component inventory based on various sensors set in the component warehouse N12, setting operation conditions for handling facilities (e.g., lifting devices or transfer robots) for picking up components, and detecting whether components are fully loaded into AGV 20.

[0087] When PLC start conditions are set, the start condition setting module 33a can automatically set the PLC memory value of the PLC 10 controlling the automation facility located in the component warehouse N12 as the start point to the table. Furthermore, the start condition setting module 33a can display the set PLC memory value through the UI, and the operator can change the PLC memory value through the UI as needed.

[0088] Furthermore, the starting condition setting module 33a can have a monitoring function that pre-checks whether the set PLC memory values ​​meet the sequence conditions (or PLC control conditions) of the actual operation of the AGV20 and the automated facilities for loading components. This is used to pre-check, through simulation, whether the priority conditions based on the table order of PLC memory values ​​meet the corresponding performance conditions, and to supplement PLC memory values ​​that cannot be executed for various reasons during the setting operation.

[0089] In this scenario, when the set PLC memory value satisfies the operation of AGV 20 as a pre-monitoring result, the starting condition setting module 33a displays a green value (indicating a normal PLC memory value) via the UI. Conversely, when the PLC memory value does not meet the sequence conditions, the starting condition setting module 33a displays a yellow value (indicating an abnormal PLC memory value) via the UI. That is, the UI of the driving condition setting unit can use color to display whether the PLC memory value set according to the PLC control conditions satisfies the AGV's operation. Here, displaying the normal situation by color is an example and can be changed according to the design.

[0090] Similarly, in the point condition setting module 33b and the endpoint condition setting module 33c, PLC conditions for operating the AGV 20 in each node segment are set.

[0091] For example, in the point condition setting module 33b, PLC memory values ​​can be set to open or close doors in the movement path, or to execute a series of sequences of opening / closing elevator doors, moving up and down, and opening / closing elevators.

[0092] Furthermore, in the endpoint condition setting module 33c, the PLC memory value can be set according to the arrival of the endpoint of the AGV 20 to execute a series of sequences for unloading components by a processing facility such as a robot.

[0093] The set PLC memory value refers to the PLC control condition setting value set in the PLC memory of PLC 10 at the time point when AGV 20 passes through each corresponding section, which is used to control the corresponding facility. As mentioned above, at least one condition of operation can be met by color display.

[0094] At the same time, refer to Figure 4 The driving condition setting unit 33 can set interlocking control conditions to prevent the AGV 20 from interfering with or colliding with automated facilities before the AGV 20 enters a specific node of the driving path. As needed, the operator can also set interlocking control conditions through the UI of the driving condition setting unit 33.

[0095] For example, when operating an automated facility such as a robot before AGV 20 enters the end point N41 of its travel path, the operator can set interlocking control conditions to temporarily stop AGV 20 to prevent interference or collision between the automated facility and AGV 20, and to put AGV 20 into standby mode until the automated facility's operation terminates. Conversely, the operator can set interlocking control conditions where, upon detecting AGV 20 entering end point N41, the operation of the automated facility is interrupted, and operation is resumed after AGV 20's entry is complete.

[0096] Interlocking control prevents AGV 20 from colliding or interfering with automated facilities as it moves from the starting point to the destination, and ensures stable transfer of components.

[0097] According to an exemplary embodiment of the present invention, the DB 34 of the operation server 30 stores various programs and data for operating the AGV 20, and stores PLC memory data collected according to the operation of the AGV 20.

[0098] The controller 35 is a central processing unit that controls the general operation of each unit and each module of the operation server for operating the AGV according to an exemplary embodiment of the present invention.

[0099] The controller 35 can perform the functions of each unit and each module by executing the program stored in the DB 34 and referring to the data, and can be a substantial controlled object.

[0100] The controller 35 collects status information from the PLC 10 located in the vehicle factory via the PLC communication module 31a and sets PLC memory values ​​to interact with the PLC 10 controlling the automated facilities along the travel path when setting the travel path of the AGV 20. Furthermore, the controller 35 can control the operation of the automated facilities by transmitting PLC memory values ​​corresponding to the PLC memory addresses of the PLC 10 located at the positions of the AGV 20. The automated facilities include mechanical devices such as doors and elevators, as well as processing facilities operating at each node.

[0101] Therefore, the operation server 30, including the controller 35, can monitor the operation status of the automation facilities through the PLC 10 arranged in the vehicle factory, and control the operation of the automation facilities arranged at the moving position of the AGV 20 through the PLC 10.

[0102] For this purpose, the controller 35 may be implemented by one or more processors, which are operated by a program set for the operation of the AGV, and the set program may be programmed to perform each operation of the method for operating the AGV according to an exemplary embodiment of the present invention. The method for operating the AGV will be described in more detail with reference to the following figures.

[0103] Figure 5 This is a flowchart schematically illustrating a method of operating an AGV by an operation server according to various exemplary embodiments of the present invention.

[0104] refer to Figure 5 According to an exemplary embodiment of the present invention, the controller 35 of the operation server 30 plans to operate the AGV 20 when a transfer job is introduced into the vehicle production plant according to the addition of a new process (S1).

[0105] The controller 35 considers the type and size of the components required for processing, selects an AGV 20 suitable for the transfer of the components, and generates a travel path from the starting point to the end point (S2) through the path setting unit 32. For example, the travel path may include node information from the starting point, which is the component warehouse, multiple transit points, and the end point of the corresponding process.

[0106] The controller 35 collects PLC status information (S3) including memory data of each PLC from the PLC 10 included in the driving path via the PLC communication module 31a.

[0107] The controller 35 queries the collected PLC memory data based on the movement position of the AGV 20, and sets the PLC control conditions (S4) for operating the automated facilities in each section through the driving condition setting unit 33. The PLC control conditions can be set by the driving condition setting unit 33, or they can be manually set by the operator through the UI of the driving condition setting unit 33.

[0108] The driving condition setting unit 33 can also set the AGV 20 to stop immediately before it enters a specific node, or stop the interlocking control conditions of the automation facility via PLC 10, based on the movement position of the AGV 20.

[0109] When the operator sets the PLC control conditions through the UI of the driving condition setting unit 33, the controller 35 checks whether the operation of the AGV 20 meets the PLC control conditions input by the operator (S5). This allows for the pre-simulation and monitoring of hazards generated by the movement of the AGV 20 and the operation of the automated facilities controlled by the PLC 10.

[0110] When the PLC control conditions set in the driving condition setting unit 33 do not meet the operation of the AGV 20 (S6, No), the controller 35 can generate an alarm to the operator through the UI of the driving condition setting unit 33 to change the setting of the corresponding PLC control conditions (S7).

[0111] When all PLC control conditions set in the driving condition setting unit 33 meet the operation of the AGV 20 (S6, Yes), the controller 35 transmits the PLC control conditions in the PLC memory that match the memory address of each PLC 10 via the PLC communication module 31a (S8). Each PLC 10 can store the PLC control conditions in the corresponding PLC memory and control the automation facilities around the AGV 20 by interacting with the AGV 20 that subsequently arrives at the corresponding node segment.

[0112] In addition, the controller 35 transmits the nodes on the travel path and the operating conditions that the AGV 20 needs to perform on each moving segment between the nodes via the AGV communication module 31b (S9).

[0113] Therefore, AGV 20 is deployed for component transfer work, loading components from the starting point of the travel path by interacting with PLC 10, and then starting to travel.

[0114] Therefore, while the AGV 20 is in operation, there may be stop events that require the AGV 20 to be temporarily stopped due to problems such as deviation from the driving path caused by sensor failure or communication errors.

[0115] When an unexpected stop occurs at a specific node or in a section between nodes while the AGV 20 is traveling, the controller 35 can control smooth travel by changing the PLC memory value of the PLC 10 in the corresponding section to a value that satisfies the travel of the AGV 20 and transmitting the changed value.

[0116] The reference has been described with controller 35 as the main body. Figure 5 The description describes the operation method of the AGV, but the controller 35 is responsible for controlling the detailed configuration of the operation server 30, so it is obvious that the method can be described with the operation server 30 as the main body.

[0117] According to the exemplary embodiments of the present invention described above, by collecting PLC status information for each process when a new task is introduced and automatically setting PLC memory values ​​to interact with automation facilities on the AGV's travel path, the efficiency of the work used to operate the AGV can be improved.

[0118] Furthermore, by pre-checking whether the set PLC control conditions meet the AGV's operation, it is possible to prevent hazards generated based on the AGV's operation.

[0119] Furthermore, by having the operation server monitor the operational status of the AGV and automated facilities via PLC and control the immediate changes in PLC control conditions used to generate stop events for the AGV, components can be smoothly supplied to the correct location at the right time.

[0120] Exemplary embodiments of the present invention have been described above, but the present invention is not limited to the foregoing exemplary embodiments, and various other modifications are possible.

[0121] For example, in an exemplary embodiment of the present invention, an industrial transport vehicle is described as being formed by an AGV, but the exemplary embodiment of the present invention is not limited thereto, and the industrial transport vehicle can be implemented using an autonomous mobile robot (AMR).

[0122] Figure 6 This is a block diagram schematically illustrating the configuration of a system for operating an AMR according to various exemplary embodiments of the present invention.

[0123] refer to Figure 6 The exemplary embodiments of the present invention are similar to those of the exemplary embodiments of the present invention. Figure 2 The configuration is the same, and the only difference is that the industrial transport vehicle 20 is formed by an AMR instead of an AGV.

[0124] Here, AGVs move by using sensors configured to detect magnetic conductors, while AMRs autonomously move to their destination while detecting the surrounding area and avoiding obstacles using sensors such as cameras, LiDAR, lasers, and DGPS. AGVs and AMRs are essentially the same because they are used for unmanned logistics transportation in industrial applications.

[0125] That is, in another exemplary embodiment of the present invention, the AMR 20 travels along a path from start to finish by passing through the transit points for transporting components of each process according to the same production plan as the AGV. Therefore, the AMR operating system 1' can be constructed through the interactive configuration between the PLC 10 and the operation server 30.

[0126] Apart from operating the AMR, the system 1' for operating the AMR can be implemented in substantially the same manner as in the exemplary embodiments of the present invention, and therefore redundant descriptions will be omitted.

[0127] Exemplary embodiments of the present invention can be implemented not only by the above-described apparatus and / or methods, but also by a program for implementing functions corresponding to the configuration of the exemplary embodiments of the present invention, a recording medium for recording the program, etc., and those skilled in the art can easily implement this embodiment based on the description of the foregoing exemplary embodiments of the present invention.

[0128] Although various exemplary embodiments of the invention have been described in detail, the scope of the invention is not limited to these embodiments. Various changes and modifications using the basic concepts of the invention as defined by those skilled in the art in the appended claims should be interpreted as falling within the scope of the invention.

[0129] Furthermore, terms related to control devices, such as "controller," "control unit," "control device," or "control module," refer to hardware devices including a memory and a processor configured to execute one or more steps interpreted as an algorithmic structure. The memory stores the algorithmic steps, and the processor executes the algorithmic steps to perform one or more processes of methods according to various exemplary embodiments of the present invention. A control device according to exemplary embodiments of the present invention can be implemented using a non-volatile memory configured to store algorithms for controlling the operation of various components of a vehicle or data regarding software commands for executing the algorithms, and a processor configured to perform the aforementioned operations using the data stored in the memory. The memory and processor can be separate chips. Alternatively, the memory and processor can be integrated into a single chip. The processor can be implemented as one or more processors. The processor can include various logic circuits and arithmetic circuits, can process data according to a program provided from the memory, and can generate control signals based on the processing results.

[0130] The control device may be at least one microprocessor operated by a predetermined program, which may include a series of commands for executing the methods included in the various exemplary embodiments of the present invention described above.

[0131] The invention described above can also be embodied in computer-readable code on a computer-readable recording medium. A computer-readable recording medium is any data storage device capable of storing data that can be subsequently read by a computer system and storing and executing program instructions that can be subsequently read by a computer system. Examples of computer-readable recording media include hard disk drives (HDDs), solid-state drives (SSDs), silicon disk drives (SDDs), read-only memory (ROM), random access memory (RAM), CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and implementations as carrier waves (e.g., transmission over the Internet). Examples of program instructions include machine language code generated by a compiler, and high-level language code that can be executed by a computer using an interpreter.

[0132] In various exemplary embodiments of the present invention, each of the above operations may be performed by a control device, and the control device may be configured by multiple control devices or an integrated single control device.

[0133] In various exemplary embodiments of the present invention, the control device may be implemented in hardware or software, or in a combination of hardware and software.

[0134] For ease of interpretation and precise definition in the appended claims, the terms “upper part,” “lower part,” “inside,” “outside,” “on,” “below,” “upward,” “downward,” “front,” “back,” “rear,” “inside,” “outside,” “inward,” “outer,” “inner,” “outer,” “forward,” and “backward” are used to describe features of exemplary embodiments with reference to the positions of such features shown in the accompanying drawings. It will be further understood that the term “connection” or its derivatives refer to both direct and indirect connections.

[0135] The foregoing description of specific exemplary embodiments of the invention has been presented for purposes of illustration and description. This foregoing description is not intended to be exhaustive or to limit the invention to the precise forms disclosed, and it will be apparent that many modifications and alterations can be made in accordance with the foregoing teachings. Exemplary embodiments were chosen and described to explain certain principles of the invention and its practical application, enabling others skilled in the art to make and utilize various exemplary embodiments of the invention and their various alternatives and modifications. The scope of the invention is intended to be defined by the appended claims and their equivalents.

Claims

1. A system for operating an automated guided vehicle, the system comprising: The automated guided vehicle is configured to load components and transfer the components along a set travel path; A programmable logic controller that controls each automation facility located at each of a plurality of nodes set up in the production line and along the travel path; as well as An operation server is configured to control the operation of the automated guided vehicle and each automated facility via the programmable logic controller (PLC), and to control each automated facility in each segment among the plurality of nodes by collecting PLC memory data from the PLC and querying the PLC memory data based on the movement position of the automated guided vehicle when setting the driving path. The programmable logic controller (PLC) includes a PLC memory controller. The PLC memory controller loads a conditional statement-based program for controlling the operation of each automation facility. Furthermore, the PLC memory controller stores log information based on the operating status and operation history of each automation facility in its memory. The programmable logic controller memory controller is configured to identify the operating state of each automated facility and the moving position of the automated guided vehicle, and to control the operation or shutdown of each automated facility based on whether the conditions set in the programmable logic controller memory are met.

2. The system according to claim 1, wherein, The automated guided vehicle includes: A transmission module is configured to receive the driving path from the operation server and transmit the movement position of the automated guided vehicle to the operation server; and The drive module is configured to store factory mappings and the coordinates of the nodes to which the automated guided vehicle moves between the plurality of nodes, and to control the drive mechanism of the automated guided vehicle.

3. The system according to claim 1, wherein, The driving path includes the plurality of nodes, each node having a starting point, one or more passing points, and an ending point for the automated guided vehicle.

4. The system according to claim 3, wherein, The travel path further includes: a supply path, in which the components are transferred from the component warehouse to the production line based on a factory-mapped coordinate system; and a return path, in which the automated guided vehicle returns in reverse order via the return path.

5. The system according to claim 1, wherein, The operation server includes: A programmable logic controller communication module is configured to collect memory data of each configured programmable logic controller by performing communication with the programmable logic controller. An automated guided vehicle communication module is configured to collect the real-time movement position of the automated guided vehicle by communicating with the automated guided vehicle; The path setting unit is configured to generate the travel path of the automated guided vehicle for transferring the components to each production line; The driving condition setting unit is configured to set the programmable logic controller memory address and programmable logic controller control conditions of the programmable logic controller memory of each automation facility in each segment according to the driving path, and to set the automatic guided vehicle driving conditions that interact with the programmable logic controller control conditions. The database stores programs and programmable logic controller memory data used to operate the automated guided vehicle; and The controller is configured to control the operation of each automation facility by transmitting programmable logic controller control conditions, specifying the programmable logic controller memory address for each segment based on the movement position of the automated guided vehicle.

6. The system according to claim 5, wherein, The driving condition setting unit includes a user interface in which the input environment for setting the programmable logic controller control conditions and the automatic guided vehicle driving conditions for each node of the driving path is programmed.

7. The system according to claim 6, wherein, The user interface of the driving condition setting unit is configured to display a screen on the display for the user to set the control conditions of the programmable logic controller. The screen includes a starting point condition setting module, a passing point condition setting module, and an ending point condition setting module for the driving path.

8. The system according to claim 6, wherein, The user interface of the driving condition setting unit queries the programmable logic controller (PLC) control conditions registered as the start point, transit point, and destination based on the movement position of the automatically guided vehicle on the driving path by referring to the collected PLC memory data, and displays the PLC control conditions to the user.

9. The system according to claim 6, wherein, The user interface of the driving condition setting unit is configured to display, by color, whether the programmable logic controller memory value set according to the programmable logic controller control conditions meets the operation of the automatically guided vehicle.

10. The system according to claim 6, wherein, The driving condition setting unit is configured to set interlocking control conditions, which, when the processing facility is operating, stop the automated guided vehicle or the processing facility for a predetermined time period before the automated guided vehicle enters the end of the driving path.

11. A method for operating an automatically guided vehicle, wherein, A method for transferring an operations server component in a vehicle manufacturing plant includes the following steps: When planning component transfer operations, the type and size of the component are taken into account to select the automated guided vehicle for transferring the component, and a travel path from the starting point to the destination of the automated guided vehicle is generated. Collect memory data from each programmable logic controller (PLC), which is configured to exist at each of the multiple nodes on the driving path and control the surrounding automation facilities. Query the programmable logic controller (PLC) memory data and set PLC control conditions for operating the automation facilities in each section based on the movement position of the automated guided vehicle; and The programmable logic controller (PLC) control conditions, matching the memory addresses of the PLC for each segment, are transmitted, and the driving path and operating conditions for each segment are transmitted to the automated guided vehicle. The programmable logic controller (PLC) includes a PLC memory controller. The PLC memory controller loads a conditional statement-based program for controlling the operation of each automation facility. Furthermore, the PLC memory controller stores log information based on the operating status and operation history of each automation facility in its memory. The programmable logic controller memory controller is configured to identify the operating state of each automated facility and the moving position of the automated guided vehicle, and to control the operation or shutdown of each automated facility based on whether the conditions set in the programmable logic controller memory are met.

12. The method according to claim 11, wherein, Querying the programmable logic controller (PLC) memory data and setting PLC control conditions for operating the automated facility in each section based on the movement position of the automated guided vehicle (AGV) includes setting interlocking control conditions based on the movement position for selectively stopping the facility by the AVC or the PLC before the AVC enters one of the plurality of nodes.

13. The method according to claim 11, wherein, Querying the programmable logic controller (PLC) memory data and setting PLC control conditions for operating the automated facilities in each segment based on the movement position of the automated guided vehicle (AGV) includes: when setting the PLC control conditions, checking whether the operation of the AGV in each segment meets the PLC control conditions.

14. The method according to claim 13, wherein, The color indicates whether the operation of the automated guided vehicle meets the control conditions of the programmable logic controller.

15. The method of claim 11, further comprising the following steps: When a stop event occurs while the automated guided vehicle is driving, the programmable logic controller (PLC) control conditions matching the memory address of the PLC for each segment are transmitted, and the driving path and the operating conditions for each segment are transmitted to the automated guided vehicle. Then, the PLC memory value of the corresponding segment's PLC is changed to a value that satisfies the driving of the automated guided vehicle, and the changed value is transmitted.

16. A system for operating an autonomous mobile robot, the system comprising: The autonomous mobile robot loads components in the vehicle manufacturing plant and transfers the components along a set travel path; A programmable logic controller is configured to control the surrounding automation facilities at each of the multiple nodes present in the production line and the travel path. as well as An operation server is configured to control the operation of the autonomous mobile robot and the automated facilities via the programmable logic controller (PLC), and to set PLC control conditions for controlling the automated facilities in each segment among the plurality of nodes by collecting PLC memory data from the PLC and querying the PLC memory data based on the movement position of the autonomous mobile robot when setting the travel path. The programmable logic controller (PLC) includes a PLC memory controller. The PLC memory controller loads a conditional statement-based program for controlling the operation of each automation facility. Furthermore, the PLC memory controller stores log information based on the operating status and operation history of each automation facility in its memory. The programmable logic controller memory controller is configured to identify the operating state of each automated facility and the moving position of the autonomous mobile robot, and to control the operation or shutdown of each automated facility based on whether the conditions set in the programmable logic controller memory are met.

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