Automatic transportation control method and automatic transportation system using an automatic guided vehicle

Abstract

The automatic transportation control method includes the steps of: an automatic guide vehicle moving to a first node, which is an initial reference position, in accordance with instructions from an automatic transportation control device; moving from the first node to a second node, which is a waiting position before entering a production facility; moving from the second node to a third node for docking with the production facility; and, when the second node is changed in response to a change in the work position of the production facility, the automatic guide vehicle receiving position coordinate values ​​of the changed second node from the automatic transportation control device and traveling based on the position coordinate values ​​of the changed second node.

Description

Technical Field

[0001] Cross-reference to related application(s) This application claims the benefit of priority based on Korean Patent Application No. 10-2021-0133508, filed on Oct. 7, 2021, and all contents disclosed in the document of the Korean patent application are incorporated herein by reference.

[0002] The present disclosure relates to an automatic transportation control method and an automatic transportation system using an automatic guided vehicle.

Background Art

[0003] Conventionally, production workers manually transported raw materials such as jumbo rolls and attached and detached the jumbo rolls to and from the electrode equipment. However, such manual operations burden the work efficiency of production workers. In addition, there is a possibility that the jumbo roll may fall during the transportation of the jumbo roll and the attachment and detachment of the jumbo roll to and from the electrode equipment, resulting in safety accidents.

[0004] Also, when the production equipment is electrode equipment, in order to ensure the processing quality, an EPC (Edge Positioning Controller) corrects the skew of the jumbo roll during the winding operation of the electrode. Due to such EPC skew correction, it is difficult for a vehicle transporting the jumbo roll to automatically dock with the production equipment.

Summary of the Invention

Problems to be Solved by the Invention

[0005] In order to solve the conventional problems, an automatic transportation control method and an automatic transportation system using an automatic guided vehicle (AGV) that can automate the transportation, attachment, and detachment of raw materials such as jumbo rolls are provided.

Means for Solving the Problems

[0006] The automatic transport control method according to one feature of the invention includes steps in which an automated guided vehicle moves to a first node, which is an initial reference position, according to an instruction from an automatic transport control device; moves from the first node to a second node, which is a standby position before entering production equipment; moves from the second node to a third node for docking with the production equipment; and when the second node is changed in response to a change in the working position of the production equipment, the automated guided vehicle receives the position coordinate value of the changed second node from the automatic transport control device and travels based on the position coordinate value of the changed second node.

[0007] The automatic transport control method may further include a step in which, when the third node is changed in response to a change in the working position of the production equipment, the automated guided vehicle receives the position coordinate value of the changed third node from the automatic transport control device and travels based on the position coordinate value of the changed third node.

[0008] The automatic transport control method may further include a step in which the automatic transport control device receives the degree of change in the working position of the production equipment from the production equipment and calculates the position coordinate value of the changed third node by reflecting the amount of change in the working position in the position coordinate value of the third node.

[0009] The automatic transport control method may further include a step in which the automatic transport control device receives the degree of change in the working position of the production equipment from the production equipment and calculates the position coordinate value of the changed second node by reflecting the amount of change in the working position in the position coordinate value of the second node.

[0010] The automatic transport control method may further include a step in which, while the automated guided vehicle moves from the second node to the third node, the automated guided vehicle and the production equipment transmit and receive information for attaching or detaching raw materials through PIO communication.

[0011] An automatic transportation system for attaching raw materials to a production facility or detaching raw materials from a production facility moves to a first node that is an initial reference position, then moves from the first node to a second node that is a standby position before entering the production facility, and moves from the second node to a third node for docking with the production facility. It may also include an automatic guided vehicle and an automatic transportation control device that receives information regarding a change in the working position of the production facility from the production facility, and changes the position coordinate value of the second node according to the information regarding the change in the working position and transmits it to the automatic guided vehicle.

[0012] The automatic transportation control device may receive information regarding a change in the working position of the production facility from the production facility, change the position coordinate value of the third node according to the information regarding the change in the working position, and transmit it to the automatic guided vehicle.

[0013] The automatic transportation control device can calculate the changed position coordinate value of the third node by reflecting the amount of change in the working position with the position coordinate value of the third node.

[0014] The automatic transportation control device can calculate the changed position coordinate value of the second node by reflecting the amount of change in the working position with the set position coordinate value of the second node.

[0015] During the movement from the second node to the third node, the automatic guided vehicle may include a PIO sensor that performs PIO communication with the PIO sensor of the production facility to transmit and receive information for attaching or detaching raw materials.

Advantages of the Invention

[0016] The present invention provides an automatic transportation control method and an automatic transportation system using an automatic guided vehicle that can automate the transportation, attachment, and detachment of raw materials such as jumbo rolls.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings. The same or similar reference numerals are assigned to the same or similar components, and redundant descriptions thereof are omitted. The suffixes “module” and / or “unit” for the components used in the following description are given or mixed only for ease of specification writing, and do not have meanings or roles that are distinct from each other. Further, in describing the embodiments disclosed in this specification, when it is determined that a specific description of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed description thereof is omitted. The accompanying drawings are only for facilitating understanding of the embodiments disclosed in this specification, and the technical idea disclosed in this specification is not limited by the accompanying drawings, and should be understood to include all modifications, equivalents, or alternatives included in the idea and technical scope of the present invention.

[0019] Terms including ordinal numbers such as first, second, etc. can be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

[0020] When it is mentioned that a certain component is "connected" or "attached" to another component, it should be understood that it may be directly connected or attached to the other component, but there may also be other components in between. In contrast, when it is mentioned that a certain component is "directly connected" or "directly attached" to another component, it should be understood that there are no other components in between.

[0021] In this application, terms such as "comprising" or "having" are intended to specify the existence of the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should be understood not to preclude in advance the existence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0022] FIG. 1 is a diagram schematically showing a production factory to which an automatic transport system according to an embodiment is applied.

[0023] As shown in FIG. 1, the automatic transport system 1 includes an automatic guided vehicle 11 and an automatic transport control device 12. The automatic transport control device 12 can control the automatic guided vehicle 11 based on information received from the upper process management system 3, the production facility 2, etc. through wired or wireless communication. For example, the automatic transport control device 12 can adjust the position coordinate values indicating the positions of the work nodes (for example, the following second node N2 and third node N3) based on the information on the positions of the turrets 21, 22 received from the production facility 2, and transmit the position coordinate values to the automatic guided vehicle 11 through wireless communication. The automatic guided vehicle 11 can travel according to the received work node.

[0024] FIG. 2 is an arrangement diagram for explaining the movement of an automatic guided vehicle according to an embodiment.

[0025] FIG. 3 is a diagram showing before and after docking of an automatic guided vehicle with a production facility.

[0026] In Figure 2, the production facility 2 includes facing EPCs 20, two turrets 21 and 22, position driving parts 23 and 24 for adjusting the positions of the turrets, lower fixing parts 25 and 26, and PIO sensors 27. This is an example for explaining one embodiment, and the production facility to which the present invention is applied is not limited by the content shown in Figures 2 and 3. In the following description, the position of the automatic guided vehicle 11 may be determined based on the center in the overall structure of the automatic guided vehicle 11.

[0027] The position driving parts 23 and 24 are devices connected to the turrets 21 and 22 and capable of moving the positions of the turrets 21 and 22 left and right (in the x-axis direction in Figure 2). The EPC 20 (see Figure 1) is a device for correcting the snaking of the electrode member in order to align the edge positions of the electrode member during the winding or unwinding operation of the electrode member. The EPC 20 can control the operations of the position driving parts 23 and 24 to correct the snaking. Due to the snaking correction, the positions of the turrets 21 and 22 can move left and right along the x-axis direction.

[0028] The automatic guided vehicle 11 includes a traveling device 110, a transfer device 120, and a PIO sensor 130. The transfer device 120 is provided on the traveling device 110 and is a device for loading and transporting raw materials (for example, jumbo rolls), and is movable in all of the x-axis, y-axis, and z-axis directions. The traveling device 110 can move the automatic guided vehicle 11 in the x-axis and y-axis directions under the control of the automatic transportation control device 12. Since the moving ranges of the transfer device 120 in the x-axis and y-axis directions are limited, the traveling device 110 can move for adjusting the position of the transfer device 120. The jumbo roll is formed by winding an electrode member having a predetermined width and length.

[0029] The movement of the automated guided vehicle 11 is performed by the traveling device 110, and the automated guided vehicle 11 can be docked to the production facility 2, and the transfer device 120 can move to attach and detach the jumbo roll 13. Through communication according to the communication protocol applied during the logistics movement between equipment, the PIO sensor 27 and the PIO sensor 130 can transmit and receive information for attaching and detaching the jumbo roll 13 between the automated guided vehicle 11 and the production facility 2 via PIO (Parallel Input Output) communication. For example, while the automated guided vehicle 11 moves from the second node N2 to the third node N3, the production facility 2 and the automated guided vehicle 11 transmit and receive information via PIO communication using the PIO sensors 27 and 130 to each other.

[0030] As shown in FIG. 2, first, the automated guided vehicle 11 according to an embodiment moves and reaches the first node N1. The first node N1 means the initial reference position (X1, Y1) of the automated guided vehicle 11 with respect to the production facility 2. The area where the automated guided vehicle 11 can move in the production factory where the production line is provided (hereinafter, the entire movement area) can be divided by coordinates. For example, the entire movement area can be divided into a plurality of notes defined by the x-coordinate value of a predetermined unit (for example, mm) set along the x-axis direction and the y-coordinate value of a predetermined unit (for example, mm) set along the y-axis direction. The entire movement area may include the movement area of the automated guided vehicle located along the x-axis direction in FIG. 2 and the access area to the production facility located along the y-axis direction for docking to the production facility.

[0031] In the entire movement area, the first node N1, which is the initial reference position (X1, Y1), is set as the first point where it should be located to dock to the production facility 1. The first node N1 can be located in the movement area of the automated guided vehicle. The automated guided vehicle 11 can move to the first node N1 from any starting position in the entire movement area.

[0032] Subsequent to the first node N1, the automated guided vehicle 11 moves to the second node N2, which is a waiting position before entering the production facility 2. PIO communication is possible between the production facility 2 and the automated guided vehicle 11 from the second node N2.

[0033] The x-axis and y-axis coordinate values (X2, Y2) of the second node N2 may be initially set. When the automated guided vehicle 11 starts moving from the first node N1 to the second node N2, it can set the moving direction and moving distance according to the position coordinate values of the second node N2 set by the automatic transport control device 12. The automated guided vehicle 11 travels the moving distance in the set moving direction.

[0034] The position of the second node N2 can vary according to the variation of the working position of the production facility 2. For example, while the positions of the turrets 21 and 22 move under the control of the EPC20, the position of the second node N2 can also be changed. In particular, when the turrets 21 and 22 move in the x-axis direction, the second node N2 must also move by the amount of movement △X2. The EPC20 transmits the movement information of the turrets 21 and 22 to the automatic transport control device 12, and the automatic transport control device 12 can calculate the position coordinate values of the second node N2 changed based on the change amount of the second node N2 based on the movement information of the turrets 21 and 22. The automatic transport control device 12 may transmit the changed position coordinate values (X2 + △X2, Y2) of the second node N2 to the automated guided vehicle 11. When the second node N2 moves to the right, △X2 is a positive value, and when it moves to the left, △X2 can have a negative value.

[0035] When the automated guided vehicle 11 starts moving from the first node N1 to the second node N2, it can set the moving direction and moving distance according to the changed position coordinate values of the second node N2 received from the automatic transport control device 12. The automated guided vehicle 11 travels the moving distance in the set moving direction.

[0036] The automated guided vehicle 11 can receive the position coordinate value of the second node N2 in real time from the automatic transport control device 12 while moving from the first node N1 to the second node N2, and correct the current moving direction and moving distance based on the received position coordinate value of the second node N2. For example, while the automated guided vehicle 11 is moving from the first node N1 to the second node N2, the automated guided vehicle 11 calculates the distance differences in the x-axis direction and the y-axis direction respectively from the current position (X, Y) to the position coordinate value (X2 + ΔX2, Y2) of the second node N2 to adjust the moving direction, and moves the moving distance from the current position to the changed second node N2.

[0037] Subsequently to the second node N2, the automated guided vehicle 11 moves to the third node N3 in order to dock with the production facility 2. That is, the third node N3 means a position where the automated guided vehicle 11 can dock with the production facility 2 and load or unload the jumbo roll 13. The automated guided vehicle 11 moving from the second node N2 to the third node N3 transmits and receives the information necessary for loading or unloading the jumbo roll 13 through PIO communication using the production facility 2 and respective PIO sensors. With the jumbo roll 13 placed on the automated guided vehicle 11, it can move from the second node N2 to the third node N3 and chuck the jumbo roll 13 placed on the automated guided vehicle 11 to the turrets 21, 22 (loading). The automated guided vehicle 11 can move from the second node N2 to the third node N3 and place the jumbo roll 13 un-chucked from the turrets 21, 22 (unloading).

[0038] First, the automated guided vehicle 11 and the production facility 2 can transmit and receive at least the following information for loading through PIO communication.

[0039] The automated guided vehicle 11 notifies the production facility 2 that it has reached the second node N2. The production facility 2 notifies the automated guided vehicle 11 that it is possible to mount the jumbo roll 13 on the automated guided vehicle 11. The automated guided vehicle 11 notifies that it will move from the second node N2 to the third node N3. The production facility 2 notifies the automated guided vehicle 11 that it is possible to mount the jumbo roll 13. The automated guided vehicle 11 arrives at the third node N3 and requests the production facility 2 to perform a checking operation. The production facility 2 notifies the automated guided vehicle 11 that the checking is in progress as a response to the request, and when the checking is completed, it can notify the automated guided vehicle 11 of the completion of the checking.

[0040] The automated guided vehicle 11 and the production facility 2 can transmit and receive at least the following information for attachment and detachment through PIO communication.

[0041] The automated guided vehicle 11 notifies the production facility 2 that it has reached the second node N2. The production facility 2 requests the automated guided vehicle 11 to attach and detach the jumbo roll 13. The automated guided vehicle 11 notifies that it will move from the second node N2 to the third node N3. The production facility 2 notifies that it is possible to attach and detach the jumbo roll 13. The automated guided vehicle 11 arrives at the third node N3 and requests the production facility 2 to perform an anti-checking operation. The production facility 2 notifies the automated guided vehicle 11 that the anti-checking is in progress as a response to the request, and when the anti-checking is completed, it can notify the automated guided vehicle 11 of the completion of the anti-checking.

[0042] As shown in Fig. 3(a), the automated guided vehicle 11 reaches the second node N2 along the y-axis direction. As shown in Fig. 3(b), the automated guided vehicle 11 enters from the second node N2 to the third node N3 and the center of the automated guided vehicle 11 reaches the third node N3. Then, the automated guided vehicle 11 is docked to the production facility 2. After docking, the transfer device 120 can move in the z-axis direction to check the jumbo roll 13 on the turrets 21, 22 or to anti-check the jumbo roll 13 from the turrets 21, 22.

[0043] When the automated guided vehicle 11 starts moving from the second node N2 to the third node N3, it can set the moving direction and the moving distance according to the current position coordinate value of the third node N3. The automated guided vehicle 11 travels the moving distance in the set moving direction.

[0044] During the period when the automated guided vehicle 11 moves from the second node N2 to the third node N3, the position of the third node N3 can vary according to the variation of the working position of the production facility 2. For example, under the control of the EPC20, while the positions of the turrets 21 and 22 move, the position of the third node N3 can also be changed. In particular, when the turrets 21 and 22 move in the x-axis direction, the third node N3 must also move by the moving amount △X3 accordingly. The EPC20 transmits the moving information of the turrets 21 and 22 to the automatic transport control device 12, and the automatic transport control device 12 changes the position coordinate value of the third node N3 based on the moving information of the turrets 21 and 22, and may transmit the changed position coordinate value (X3 + △X3, Y3) of the third node N3 to the automated guided vehicle 11. When the third node N3 moves to the right, △X3 is a positive value, and when it moves to the left, △X3 can have a negative value.

[0045] The automated guided vehicle 11 can correct the current moving direction and the moving distance based on the changed position coordinate value of the third node N3. For example, while the automated guided vehicle 11 moves from the second node N2 to the third node N3, the automated guided vehicle 11 calculates the distance differences in the x-axis direction and the y-axis direction from the current position (X, Y) to the third node N3 and adjusts the moving direction, and moves the moving distance from the current position to the changed third node N3.

[0046] After the automated guided vehicle 11 arrives at the third node N3 and completes the mounting and dismounting of the jumbo roll 13, the automated guided vehicle 11 can move from the third node N3 to the fourth node. After the automated guided vehicle 11 arrives at the third node N3, the transfer device 120 can move to the position for mounting and dismounting the jumbo roll 13.

[0047] Figure 4 is a flowchart showing the operation of the automatic transport system according to an embodiment.

[0048] First, the automatic transport control device 12 can receive a transfer instruction for raw materials such as the jumbo roll 13 from the upper process management system 3 (S0). The transfer instruction may include information regarding the location of the warehouse storing the raw materials, the location of the production facility, the working hours, and the like.

[0049] The automatic guided vehicle 11 can receive the transfer instruction from the automatic transport control device 12 and move to the first node N1 (S1). In the case of loading the raw materials, the automatic guided vehicle 11 can move to the warehouse storing the raw materials, place the raw materials thereon, and then move to the first node N1. In the case of unloading the raw materials, the automatic guided vehicle 11 can move from the current position to the first node N1.

[0050] Next, the automatic guided vehicle 11 can move from the first node N1 to the second node N2 (S2).

[0051] At this time, when the second node N2 is changed in response to a change in the working position of the production facility 2, such as a change in the positions of the turrets 21 and 22, the automatic transport control device 12 can receive the degree of change in the working position of the production facility 2 from the EPC 20, and calculate the position coordinate value of the changed second node N2 by reflecting the amount of change in the working position on the already set position coordinate value of the second node N2 (S3).

[0052] The automatic guided vehicle 11 can receive the position coordinate value of the changed second node N2 from the automatic transport control device 12, determine the moving direction and the moving distance based on the position coordinate value of the changed second node N2, and travel according to the determined moving direction and moving distance (S4).

[0053] Next, the automatic guided vehicle 11 can move from the second node N2 to the third node N3 (S5). During step S5, the automatic guided vehicle 11 can transmit and receive information for loading and unloading through PIO communication with the production facility 2.

[0054] At this time, when the third node N3 is changed in response to a change in the working position of the production equipment 2, such as a change in the positions of the turrets 21 and 22, the automatic transport control device 12 receives the degree of change in the working position of the production equipment 2 from the EPC 20, and can calculate the position coordinate value of the changed third node N3 by reflecting the amount of change in the working position on the current position coordinate value of the third node N3 (S6).

[0055] The automatic guided vehicle 11 receives the position coordinate value of the changed third node N3 from the automatic transport control device 12, determines the moving direction and the moving distance based on the position coordinate value of the changed third node N3, and can travel according to the determined moving direction and moving distance (S7).

[0056] After the automatic guided vehicle 11 docks with the production equipment 2, it can complete the mounting and dismounting. After the automatic guided vehicle 11 completes the mounting and dismounting, it moves to the fourth node (S8).

[0057] Conventionally, in developing an interface with production equipment that performs continuous operations, there have been difficulties due to the risk of defective quality and production equipment downtime. Since the automatic guided vehicle according to an embodiment of the present invention automatically docks with the production equipment, the automatic transport control method and the automatic transport system according to an embodiment can be applied. That is, through an embodiment of the present invention, an interface between the production equipment and the automatic transport system can be implemented.

[0058] For example, even if the turret moves left and right in real time through skew correction for ensuring the quality of winding products (for example, jumbo rolls), the present invention transmits the working node to the automatic guided vehicle in accordance with the movement of the turret, and provides an interface between the production equipment and the automatic guided vehicle. Therefore, the automatic guided vehicle can automatically dock with the production equipment.

[0059] Although the embodiments of the present invention have been described in detail above, the scope of the rights of the present invention is not limited thereto, and various modified and improved forms by those having ordinary knowledge in the field to which the present invention pertains also belong to the scope of the rights of the present invention.

Claims

1. The step in which the automated guided vehicle moves to a first node, which is an initial reference position, in accordance with an instruction from an automated transport control device; The step in which the automated guided vehicle moves to a second node, which is a standby position before entering the production facility from the first node; The step in which the automated guided vehicle moves to a third node for docking with the production facility from the second node; When the second node is changed in response to a change in the working position of the production facility, the step in which the automated guided vehicle receives the position coordinate value of the changed second node from the automated transport control device and travels based on the position coordinate value of the changed second node; The step in which the automated transport control device receives information regarding a change in the working position of the production facility from the production facility and changes the position coordinate value of the second node according to the information regarding the change in the working position; The automated guided vehicle receives the position coordinate value of the second node from the automated transport control device while moving from the first node to the second node, and corrects the current moving direction and moving distance based on the received position coordinate value of the second node, including: An automated transport control method.

2. When the third node is changed in response to a change in the working position of the production facility, the step in which the automated guided vehicle receives the position coordinate value of the changed third node from the automated transport control device and travels based on the position coordinate value of the changed third node, further included in the automated transport control method according to Claim 1.

3. The step in which the automated transport control device receives the degree of change in the working position of the production facility from the production facility and calculates the position coordinate value of the changed third node by reflecting the amount of change in the working position in the position coordinate value of the third node, further included in the automated transport control method according to Claim 2.

4. The step in which the automated transport control device receives the degree of change in the working position of the production facility from the production facility and calculates the position coordinate value of the changed second node by reflecting the amount of change in the working position in the position coordinate value of the second node, included in the automated transport control method according to Claim 1.

5. While the automated guided vehicle moves from the second node to the third node, the step in which the automated guided vehicle and the production facility transmit and receive information for attaching or detaching raw materials through PIO communication, further included in the automated transport control method according to Claim 1.

6. In an automatic transport system for attaching raw materials to production equipment or detaching raw materials from production equipment, An automatic guided vehicle that moves to a first node which is an initial reference position, moves to a second node which is a standby position before entering the production equipment from the first node, and moves to a third node for docking to the production equipment from the second node, An automatic transport control device that receives information regarding a change in the working position of the production equipment from the production equipment, changes the position coordinate value of the second node according to the information regarding the change in the working position, and transmits it to the automatic guided vehicle, While moving from the first node to the second node, the automatic guided vehicle receives the position coordinate value of the second node from the automatic transport control device, and corrects the current moving direction and moving distance based on the received position coordinate value of the second node Automatic transport system.

7. The automatic transport control device, The automatic transport system according to claim 6, which receives information regarding a change in the working position of the production equipment from the production equipment, changes the position coordinate value of the third node according to the information regarding the change in the working position, and transmits it to the automatic guided vehicle.

8. The automatic transport control device, The automatic transport system according to claim 7, which calculates the changed position coordinate value of the third node by reflecting the amount of change in the working position with the position coordinate value of the third node.

9. The automatic transport control device, The automatic transport system according to claim 6, which calculates the changed position coordinate value of the second node by reflecting the amount of change in the working position with the set position coordinate value of the second node.

10. The automatic guided vehicle, The automatic transport system according to claim 6, including a PIO sensor that performs PIO communication with the PIO sensor of the production equipment while moving from the second node to the third node to transmit and receive information for attaching or detaching raw materials.

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