Seat track loading and unloading system, seat track loading and seating position correction system, and methods therefor

Abstract

One embodiment of the present invention provides a seat track loading and unloading system comprising: a carriage onto which and from which seat tracks are loaded and unloaded; an unmanned transport vehicle which transports the carriage; a seat track loading and unloading robot which is equipped with a gripper to unload the seat tracks from the carriage; and a conveyor onto which the seat tracks are loaded.

Description

Seat track loading / unloading system, seat track loading / unloading position correction system and method thereof

[0001] The present invention relates to a seat track loading / unloading system, a seat track loading / unloading position correction system, and a method thereof, and more particularly, to a seat track loading / unloading system that loads and unloads seat tracks without human labor using an unmanned transport vehicle and a seat track loading / unloading robot, and in which the seat track loading / unloading robot can automatically correct the position of the seat track, thereby preventing misalignment of the seat track unloading position, and a seat track loading / unloading position correction system and method thereof for improving the accuracy of the seat track input and settling process.

[0002] The seat track is composed of a lower rail fixedly installed on the floor panel of a vehicle, an upper rail on which a seat is installed and which is coupled to slide along the lower rail, and a gearbox that moves forward and backward along a lead screw installed on the lower rail by a driving means while being fixed to the upper rail.

[0003] When these sheet tracks are transported to other factories after production, they are unloaded onto pallets. Sometimes, workers manually load and unload the sheet tracks onto the pallets.

[0004] With the recent increase in demand for automated processes and smart factories, the use of automated guided vehicles (AGVs) is becoming increasingly necessary for transporting sheet tracks within warehouses. Furthermore, the need for automated logistics and manufacturing processes is also growing, with sheet track loading and unloading robots to load and unload sheet tracks onto pallets after transport.

[0005] However, while the sheet track unloading method using a sheet track loading / unloading robot offers the advantage of automation, it also presents some challenges. For example, when the sheet track is gripped by the sheet track loading / unloading robot, the sheet track may become slightly warped, potentially leading to misalignment of the sheet track when unloading onto the delivery pallet.

[0006] Accordingly, if the unloading position of the sheet track for the pallet is not precise, a collision between the vehicle and the sheet track may occur during the transport or installation of the sheet track, which may prevent smooth loading of the sheet track, and ultimately, there is a problem that the vehicle quality and production efficiency may be reduced due to damage such as scratches or breakage of the vehicle, sheet track, or sheet.

[0007] Therefore, when using a sheet track loading / unloading robot, the need for a system that corrects the position when loading / unloading the sheet track is also emerging.

[0008] Meanwhile, after production, these automotive seat tracks are transported to other factories, where they are placed on pallets and moved. These seat tracks are either manually placed and placed on pallets by workers or automatically placed by robots driven by a program.

[0009] However, in the method of seat track placement using a robot, there was a problem that when the car seat was gripped by the robot, the car seat track was slightly distorted, and as a result, the car seat track was misaligned when placed on the delivery pallet.

[0010] If the seating position of the automobile seat track for the above pallet is not precise, a collision between the vehicle and the seat track may occur during transportation or installation of the automobile seat track, which may prevent smooth insertion of the seat track, and as a result, there is a problem that the vehicle quality and production efficiency may be reduced due to damage such as scratches or breakage of the vehicle, seat track, or seat.

[0011] The present invention is to solve the problems of the prior art described above, and the purpose of the present invention is to provide a seat track loading and unloading system and method for improving the position and stability of a seat track and constructing an automated seat track manufacturing process by utilizing an unmanned transport vehicle and a seat track loading and unloading robot in the seat track manufacturing process, and a seat track loading and unloading position correction system and method for improving the position and stability of a seat track by solving minute errors and misalignment problems that occur when an automobile seat track is placed on a pallet or other transport device.

[0012] In order to achieve the above object, one aspect of the present invention may be a sheet track loading / unloading system including a cart on which a sheet track is loaded and unloaded, an unmanned transport vehicle transporting the cart, a sheet track loading / unloading robot equipped with a gripper to unload the sheet track from the cart, and a conveyor on which the sheet track is loaded, wherein the conveyor includes a second camera for acquiring an image of a mounting hole or a mounting pin of the sheet track, a memory for storing the image obtained from the camera, a second processor for calculating a position correction value of the sheet track by comparing the stored image with a reference image, and a second pallet on which the sheet track loading / unloading robot loads the sheet track.

[0013] In one embodiment of the present invention, the bogie may be a sheet track loading / unloading system, characterized in that it includes a first pallet on which a sheet track is loaded and unloaded, a first camera for identifying a mounting position, and a first processor for transmitting a correction position value to a sheet track loading / unloading robot based on the mounting position of the first camera.

[0014] In one embodiment of the present invention, the seat track loading / unloading system may be characterized in that the first camera checks the number of remaining seat tracks in the bogie, and the first processor receives information on the number of remaining seat tracks from the first camera and transmits the information to an unmanned transport vehicle.

[0015] In one embodiment of the present invention, the unmanned transport vehicle may be a seat track loading / unloading system characterized in that it transports the bogie to a plurality of predetermined zones, and when all the seat tracks in the bogie are unloaded, moves the bogie to a space outside the plurality of zones.

[0016] In one embodiment of the present invention, the unmanned transport vehicle may be a seat track loading / unloading system characterized in that it further includes a calculation module that calculates a movement path and a shortest waiting time of the unmanned transport vehicle, and moves along a movement path that can achieve the shortest waiting time according to the calculation module.

[0017] In one embodiment of the present invention, the seat track loading / unloading robot may be a seat track loading / unloading system characterized in that it unloads the seat track from a bogie in a zone with the fewest number of seat tracks among the bogies in a plurality of zones.

[0018] In one embodiment of the present invention, the seat track loading / unloading robot may be a seat track loading / unloading system characterized in that it corrects the position of the seat track based on a correction value obtained from the second processor.

[0019] In one embodiment of the present invention, the second processor may be a seat track loading / unloading system characterized in that it provides a correction value aligned with the seat track using an RFID recognition system.

[0020] In one embodiment of the present invention, the second processor may be a seat track loading / unloading system characterized in that it sets a feature point based on a mounting hole and a mounting pin and determines a position correction value based on the feature point.

[0021] In one embodiment of the present invention, the second processor may be a seat track loading / unloading system characterized in that, when calculating the positional change between a reference feature point and a feature point of the current seat, the position is determined based on three degrees of freedom: a lateral distance difference, a longitudinal distance difference, and an angle.

[0022] In one embodiment of the present invention, a method for loading and unloading a sheet track may include a step of moving a cart including a sheet track and a first pallet to a plurality of predetermined zones by an unmanned transport vehicle, a step of unloading a sheet track from a cart located in a designated zone using a correction position value calculated by a first processor, a step of obtaining an image of the sheet track by a second camera, a step of calculating the correction position value through a second processor and loading the sheet track onto a second pallet based on the calculated correction position value, and a step of returning the sheet track loading and unloading robot to an original position after loading the sheet track onto the second pallet, wherein the step of calculating the correction position value through the second processor and loading the sheet track onto the second pallet based on the calculated correction position value may be a sheet track loading and unloading method that sets a feature point based on a mounting hole and a mounting pin and corrects a position based on the feature point.

[0023] In one embodiment of the present invention, the step of moving the bogie including the seat track to a plurality of predetermined zones by the unmanned transport vehicle may be a method for loading and unloading the seat track, including the step of a calculation module determining an algorithm for the shortest movement path of the bogie; and the step of the unmanned transport vehicle moving according to the determined algorithm.

[0024] In one embodiment of the present invention, the step of unloading the sheet track from the bogie located in the designated area using the correction position value calculated by the first processor by the seat track loading / unloading robot may be a sheet track loading / unloading method further comprising the steps of: checking the number of sheet tracks in the bogie for each area; moving the bogie in the area where all the sheet tracks have been unloaded to a location other than the designated multiple areas by an unmanned transport vehicle; and unloading the sheet track in the area with the smallest number of sheet tracks.

[0025] In order to achieve the above object, one aspect of the present invention provides a seat track loading position correction system, comprising: a cushion frame robot equipped with a gripper to set a seat track; a camera for acquiring an image of a mounting hole or a mounting pin of the seat track; a memory for storing the image acquired from the camera; a processor for calculating a position correction value of the seat track by comparing the stored image with a reference image; and wherein the cushion frame robot includes a device for correcting the position of the seat track based on the correction value acquired from the processor, and the device sets a feature point based on a mounting hole and a mounting pin to set the feature point as a reference image, collects position information of the mounting pin and the mounting hole of the reference image and position information of the mounting hole and the mounting pin of the photographed image of the seat track, calculates a positional change between the position information of the mounting pin and the mounting hole of the reference image and the position information of the mounting hole and the mounting pin of the image of the seat track captured from the camera, and calculates and corrects the correction value based on the positional change calculation result.

[0026] In one embodiment of the present invention, the processor may be a seat track loading position correction system that provides a correction value aligned with an automobile seat track using an RFID recognition system.

[0027] In one embodiment of the present invention, the processor may be a seat track loading position correction system that sets a feature point based on a mounting hole and a mounting pin and corrects the position based on the feature point.

[0028] In one embodiment of the present invention, a seat track loading method is provided, comprising: a step of positioning a seat track on a track pallet; a step of confirming a track pallet seating position of the seat track; a step of correcting the track pallet seating position of the seat track; a step of positioning the seat track on a conveyor jig pallet; a step of confirming a conveyor jig pallet seating position of the seat track; a step of correcting a conveyor jig pallet seating position of the seat track; and a step of returning a cushion frame robot to an original position after the seat track is seated on the conveyor jig pallet. The step of correcting the track pallet seating position of the seat track comprises: a step of setting feature points based on mounting holes and mounting pins and correcting a position based on feature points; a step of collecting position information of the mounting pins and mounting holes of a reference image and position information of the mounting holes and mounting pins of a photographed image of the seat track; a step of calculating a positional change between the position information of the mounting pins and mounting holes of the reference image and the position information of the mounting holes and mounting pins of the photographed image of the seat track; a step of calculating a correction value of the cushion frame robot based on a result of the positional change calculation; and a step of the cushion frame robot performing correction using the calculated value. It may be a method of correcting the settling position.

[0029] In one embodiment of the present invention, the step of correcting the conveyor jig pallet mounting position of the sheet track may be a sheet track loading mounting position correction method that sets a feature point based on a mounting hole and a mounting pin and corrects the position based on the feature point.

[0030] In one embodiment of the present invention, when calculating the position change between a reference feature point and a feature point of a current sheet, it may be a sheet track loading position correction method that determines the position based on three degrees of freedom: a transverse distance difference, a longitudinal distance difference, and an angle.

[0031] In one embodiment of the present invention, the step of correcting the conveyor jig pallet seating position of the sheet track may be a method for correcting the seating position of a sheet track, including the steps of collecting position information of a mounting pin and a mounting hole of a reference image and position information of a mounting hole and a mounting pin of a photographed image of the sheet track, calculating a positional change between the position information of the mounting pin and the mounting hole of the reference image and the position information of the mounting hole and the mounting pin of the photographed image of the sheet track, calculating a correction value of a cushion frame robot based on a result of calculating the positional change, and performing correction by the cushion frame robot using the calculated value.

[0032] In one embodiment of the present invention, when calculating the position change between a reference feature point and a feature point of a current sheet, it may be a sheet track loading position correction method that determines the position based on three degrees of freedom: a transverse distance difference, a longitudinal distance difference, and an angle.

[0033] In one embodiment of the present invention, the step of positioning a sheet on a track pallet may be a sheet track loading position correction method further including a step of detecting an RFID tag attached to the sheet to obtain specifications of a part mounted on the sheet.

[0034] In one embodiment of the present invention, the step of correcting the track pallet mounting position of the sheet may be a sheet track loading mounting position correction method that corrects the position based on the specifications of the part obtained through the RFID tag.

[0035] In one embodiment of the present invention, the step of correcting the conveyor jig pallet seating position of the sheet may be a sheet track loading seating position correction method that corrects the position based on the specifications of the part obtained through the RFID tag.

[0036] According to one aspect of the present invention, a sheet track manufacturing process can be automated through an unmanned transport vehicle and a sheet track loading / unloading robot, enabling accurate and rapid sheet track manufacturing without human labor.

[0037] Additionally, depending on the algorithm of the unmanned transport vehicle, loading and unloading and movement of the seat track can be efficient.

[0038] In addition, it is possible to reduce the manpower required for transporting and managing sheet tracks and the associated costs.

[0039] Additionally, by accurately loading the seat tracks, minor errors and misalignment issues can be resolved, improving the positioning and stability of the seat tracks.

[0040] Additionally, the productivity of sheet tracks can be improved by managing sheet track production quality and quality data.

[0041] And, by transmitting coordinates to the robot based on the calculated position correction value and correcting them, the car seat track can be accurately placed on the conveyor jig pallet.

[0042] Additionally, by accurately positioning the seat track, minor errors and misalignment issues can be resolved, improving the positioning and stability of the seat track.

[0043] Additionally, the productivity of sheet tracks can be improved by managing sheet track production quality and quality data.

[0044] The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the detailed description of the present invention or the composition of the invention described in the claims.

[0045] FIG. 1 is a block diagram schematically illustrating communication of a first processor according to one embodiment of the present invention.

[0046] FIG. 2 is a block diagram schematically illustrating communication of a conveyor according to one embodiment.

[0047] Figure 3 is a schematic drawing of the entire seat track loading / unloading system.

[0048] Figure 4 is a schematic drawing of a bogie, an unmanned transport vehicle, and a seat track loading / unloading robot.

[0049] Figure 5 (a) is a perspective view of an image being acquired for correction before the sheet track is placed on the second palette.

[0050] Figure 5 (b) is a perspective view of the sheet track loading / unloading robot, the conveyor, the second pallet, and the sheet track after the sheet track has been settled according to the correction position.

[0051] Figure 6 (a) is a detailed flowchart of the steps for moving a bogie including a seat track to a plurality of predetermined zones by an unmanned transport vehicle.

[0052] Figure 6 (b) is a detailed flowchart of the steps in which a seat track loading / unloading robot loads a seat track on a bogie located in a designated area.

[0053] Figure 7 is a block diagram schematically illustrating the configuration of a device according to one embodiment of the present invention.

[0054] FIG. 8 is a schematic diagram illustrating a sheet track and a camera according to one embodiment.

[0055] FIG. 9 is a perspective view of a device and a track palette according to one embodiment.

[0056] FIG. 10 is a perspective view of a device and a conveyor jig pallet according to one embodiment.

[0057] Figure 11 (a) is a flowchart illustrating each step of operation of a device according to one embodiment.

[0058] Fig. 11(b) is a flowchart illustrating another embodiment of a step for correcting a mounting position of a device according to one embodiment.

[0059] Fig. 11 (c) is a flowchart illustrating another embodiment when a device according to one embodiment has an RFID recognition system.

[0060] FIG. 12 is a diagram illustrating a reference image stored in memory according to one embodiment.

[0061] FIG. 13 is a drawing illustrating an image captured by a camera according to one embodiment.

[0062] Hereinafter, the present invention will be described with reference to the attached drawings. However, the present invention can be implemented in various different forms and is therefore not limited to the embodiments described herein. In the drawings, irrelevant parts have been omitted for clarity of description, and similar parts have been designated with similar reference numerals throughout the specification.

[0063] Throughout the specification, when a part is said to be "connected" to another part, this includes not only "directly connected" but also "indirectly connected" with other elements intervening. Furthermore, when a part is said to "include" a component, this does not exclude other components, but rather implies that the other components may be included, unless otherwise specifically stated.

[0064] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0065] FIG. 1 is a block diagram schematically illustrating communication of a first processor (120) according to one embodiment of the present invention. FIG. 2 is a block diagram schematically illustrating communication of a conveyor (400) according to one embodiment. FIG. 3 is a diagram schematically illustrating the entire sheet track loading / unloading system (1000).

[0066] Referring to FIGS. 1 to 3, the sheet track loading / unloading system (1000) may include a cart (100), an unmanned transport vehicle (200), a sheet track loading / unloading robot (300), and a conveyor (400).

[0067] The cart (100) may further include a first camera (110), a first processor (120), and a first palette (130).

[0068] The bogie (100) is transported by the unmanned transport vehicle (200) below and can load the sheet track (10) and move it to a designated area.

[0069] At this time, the first camera (110) can play a role in identifying the seating position of the seat track (10) within the bogie (100) and in identifying the number of seat tracks (10) remaining within the bogie (100).

[0070] Referring to FIG. 1, the first processor (120) can transmit information about the seating position of the sheet track (10) and the remaining number of sheets in the cart (100) obtained from the first camera (110) to the automatic transport vehicle (200) and the sheet track loading / unloading robot (300).

[0071] Specifically, the first processor (120) can calculate a correction position value based on information about the settling position obtained from the first camera (110) and transmit it to the seat track loading / unloading robot (300).

[0072] In addition, when all the sheet tracks (10) are unloaded from the cart (100), the first processor (120) can transmit the information to the unmanned transport vehicle below, so that the automatic transport vehicle (200) can move the cart (100).

[0073] The first pallet (130) refers to a pallet for loading a track (10) onto the cart (100).

[0074] The unmanned transport vehicle (200) may further include a calculation module (210).

[0075] The unmanned transport vehicle (200) can serve to move the cart (100) to a designated area. The designated area may be a plurality of areas determined in advance.

[0076] Depending on the location of the above designated area, the calculation module (210) calculates values ​​for the rotation angle and position displacement of the seat track loading / unloading robot (300) and transmits them to the seat track loading / unloading robot (300) to rotate it.

[0077] When an unmanned transport vehicle (200) moves and enters or exits a plurality of designated areas, it can move by selecting the shortest waiting time and movement route by an algorithm calculated by the calculation module (210).

[0078] The calculation module (210) can calculate the shortest waiting time and movement path and move the unmanned transport vehicle (200) accordingly.

[0079] Additionally, the calculation module (210) can calculate the rotation angle and position displacement of the sheet track loading / unloading robot (300) according to a set designated area.

[0080] Figure 4 is a schematic drawing of a bogie (100), an unmanned transport vehicle (200), and a seat track loading / unloading robot (300).

[0081] The sheet track loading / unloading robot (300) is equipped with a gripper and can unload the sheet track (10) from the cart (100) and load the unloaded sheet track (10) onto the conveyor (400).

[0082] At this time, the seat track loading / unloading robot (300) can unload the seat track (10) from the cart (100) according to the correction position value based on the information obtained from the first processor (120).

[0083] In addition, the sheet track loading / unloading robot (300) can automatically correct the position of the sheet track (10) on the conveyor (400) based on information obtained through the second camera (410) and the second processor (430) to load the sheet track (10).

[0084] The gripper is installed at the end of the sheet track loading / unloading robot (300) to grip the sheet track (10). Depending on the size, shape, or type of the object to be worked on, and depending on the method of performing the work for assembly, disassembly, or movement, various types of grippers can be installed.

[0085] The sheet track loading / unloading robot (300) can unload the sheet track (10) from the sheet track (100) in the zone with the smallest number of sheet tracks (10) among multiple zones based on the information about the number of sheet tracks (10) in the sheet track (100) received from the first processor (120).

[0086] Figure 5 (a) is a perspective view of an image being acquired for correction before the sheet track (10) is placed on the second palette (440).

[0087] Figure 5 (b) is a perspective view of the sheet track loading / unloading robot (300), conveyor (400), second pallet (440), and sheet track (10) after the sheet track (10) has been settled according to the correction position.

[0088] The conveyor (400) may include a second camera (410), a memory (420), a second processor (430), and a second pallet (440).

[0089] The second camera (410) can obtain an image of the mounting hole or mounting pin of the seat track (10).

[0090] The above memory (420) may store a program code for driving the second processor (430), a reference image, and an image acquired through the second camera (410). Here, the reference image may be provided according to the specifications of the sheet track (10). The reference image may be an image of the mounting hole of the sheet track (10) when the mounting hole of the sheet track (10) is aligned with the mounting pin of the conveyor (400) and unloaded.

[0091] The second processor (430) can receive information from the memory (420) and control the operations of the second camera (410) and the seat track loading / unloading robot (300) based on the information.

[0092] The second processor (430) can perform machine vision analysis based on the image of the seat track (10) and the reference image and determine a position correction value of the seat track (10). Specifically, the second processor (430) calculates the positional displacement of the seat track (10) compared to the reference image and, based on this, calculates a correction value for the rotation angle and positional displacement of the seat track loading / unloading robot (300).

[0093] The second processor (430) automatically controls the position and angle of the sheet track loading / unloading robot (300) using the calculated position correction value.

[0094] In addition, the above correction of the second processor (430) may be characterized by determining the position based on three degrees of freedom: a lateral distance difference, a longitudinal distance difference, and an angle when calculating the position change between the reference feature point and the feature point of the current sheet.

[0095] An RFID recognition system may be provided that detects information from an RFID tag (not shown) attached to a sheet track (10). The RFID recognition system is used to identify objects to which the RFID tag (not shown) is attached. Simply put, an RFID tag (not shown) functions similarly to a barcode. What differentiates an RFID recognition system from a barcode system is that it uses radio waves instead of light for reading. Therefore, unlike a barcode reader, it can read tags from a long distance, and can even receive information through objects in between.

[0096] The RFID information of the seat track (10) detected by the RFID recognition system stores information on the parts of the seat track (10) that serve as the assembly standard for each option. For example, the seat track (10) is composed of various options such as fabric type, frame type, color, and convenience function, and the RFID information detected by the RFID recognition system may include information on various options such as fabric type, frame type, color, and convenience function.

[0097] Figure 6 (a) is a detailed flowchart for a step in which a bogie (100) including a seat track (10) is moved to a plurality of predetermined zones by an unmanned transport vehicle (200). Figure 6 (b) is a detailed flowchart for a step in which a seat track loading / unloading robot (300) unloads a seat track (10) from a bogie (100) located in a designated zone.

[0098] The sheet track loading method (S10) may include a step (S100) in which an unmanned transport vehicle moves a cart including a sheet track to a plurality of predetermined zones, a step (S200) in which a sheet track loading / unloading robot unloads the sheet track from a cart located in a designated zone using a correction position value calculated by a first processor, a step (S300) in which a second camera acquires an image of the sheet track, a step (S400) in which the sheet track loading / unloading robot calculates the correction position value through a second processor and loads the sheet track onto a second pallet based on the calculated correction position value, and a step (S500) in which the sheet track loading / unloading robot returns to its original position after loading the sheet track onto the second pallet.

[0099] The step (S200) in which a seat track loading / unloading robot unloads a seat track from a cart located in a designated area using a correction position value calculated through a first processor and the step (S400) in which the seat track loading / unloading robot loads the seat track onto a second pallet based on the correction position value calculated through a second processor may be a step in which a feature point is set based on a mounting hole and a mounting pin and a position is corrected based on the feature point.

[0100] In detail, there is no limitation on the number of mounting holes, but preferably, the mounting pin socket can be installed in four mounting holes.

[0101] More specifically, the step (S200) of having the sheet track loading / unloading robot unload the sheet track from a cart located in a designated area using a correction position value calculated by the first processor and the step (S400) of calculating the correction position value through the second processor and loading the sheet track onto the second pallet by the sheet track loading / unloading robot based on the calculated correction position value may further include the steps of collecting position information of the mounting pins and mounting holes of the reference image and position information of the mounting holes and mounting pins of the photographed image of the sheet track (10), calculating the positional change between the position information of the mounting pins and mounting holes of the reference image and the position information of the mounting holes and mounting pins of the photographed image of the sheet track (10), calculating the correction value of the sheet track loading / unloading robot (300) based on the positional change calculation result, and the step of the sheet track loading / unloading robot (300) performing correction using the calculated value. The method may further include an RFID recognition system.

[0102] The step (S100) of moving a bogie including the above-mentioned sheet track to a plurality of predetermined zones by an unmanned transport vehicle may further include a step (S110) in which a calculation module determines an algorithm for the shortest movement path of the bogie and a step (S120) in which the unmanned transport vehicle moves according to the determined algorithm.

[0103] In addition, the step (S200) of having the seat track loading / unloading robot unload the seat track from the bogie located in the designated area using the correction position value calculated by the first processor may further include a step (S210) of checking the number of seat tracks (10) in the bogie (100) for each area, a step (S220) of having the unmanned transport vehicle (200) move the bogie (100) in the area where all the seat tracks (10) have been unloaded to a location outside of a number of designated areas, and a step (S230) of having the seat track loading / unloading robot (300) unload the seat track (10) in the area with the smallest number of seat tracks (10).

[0104] According to one aspect of the present invention, the sheet track manufacturing process can be automated using an unmanned transport vehicle and a sheet track loading / unloading robot, enabling accurate and rapid sheet track manufacturing without human labor. Furthermore, the loading / unloading and movement of sheet tracks can be efficiently performed according to the algorithm of the unmanned transport vehicle. Furthermore, the labor required for transporting and supervising sheet tracks, as well as the associated costs, can be reduced. Furthermore, by transmitting coordinates to the robot based on the calculated position correction values ​​and performing corrections, sheet tracks can be accurately unloaded onto pallets. Furthermore, by accurately unloading sheet tracks, minor errors and misalignment issues can be resolved, thereby improving the positioning and stability of the sheet tracks. Furthermore, by managing sheet track production quality and quality data, sheet track productivity can be enhanced.

[0105]

[0106] Below, a system and method for correcting the seat track loading position are described.

[0107] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0108] FIG. 7 is a block diagram schematically illustrating a configuration of a device according to one embodiment of the present invention. FIG. 8 is a diagram schematically illustrating a sheet track and a camera according to one embodiment. FIG. 9 is a perspective view of a device and a track pallet according to one embodiment. FIG. 10 is a perspective view of a device and a conveyor jig pallet according to one embodiment. FIG. 11 (a) is a flowchart illustrating each step of operating a device according to one embodiment. FIG. 11 (b) is a flowchart illustrating another embodiment of a step of correcting a mounting position of a device according to one embodiment. FIG. 11 (c) is a flowchart illustrating another embodiment when a device according to one embodiment has an RFID recognition system. FIG. 12 is a diagram illustrating a reference image stored in a memory according to one embodiment. FIG. 12 is a diagram illustrating an image captured by a camera according to one embodiment.

[0109] Referring to FIG. 7, the device (500) may include a cushion frame robot (510), one or more cameras (520), a memory (530), and a processor (540).

[0110] Referring to FIGS. 8 and 9, a gripper (511) for performing tasks such as gripping and moving an object to be worked on may be mounted at the end of the cushion frame robot (510).

[0111] The gripper (511) is installed at the end of the cushion frame robot (510) to grip the car seat track (10), and the gripper (511) may also be equipped with various types of grippers (511) depending on the size, shape, or type of the object to be worked on, and the method of performing the work for assembly, disassembly, or movement.

[0112] The camera (520) can acquire an image of a mounting hole (12) or mounting pin of an automobile seat track (10).

[0113] The automobile seat track (10) is mounted to the floor panel of the vehicle interior by means of a seat track rail (11) so that the front and rear positions can be adjusted. At this time, a mounting hole (12) into which a fastening means can be inserted may be formed at each end of the seat track rail (11). For example, when a worker inserts a bolt into the mounting hole (12) using a socket tool or the like and bolts it, the seat track rail (11) can be fixed to the vehicle on the floor panel.

[0114] The camera (520) can acquire an image of each mounting hole (12) or mounting pin of the seat track rail (11), and may further include a light (521) for illuminating the mounting hole (12) or mounting pin.

[0115] In general, the indoor environment of a workplace such as a factory is blocked from natural light and maintained bright by artificial lighting (521), so it is desirable that the mounting hole (12) or mounting pin area be illuminated with separate lighting (521) so that minimal identification is possible.

[0116] The lighting (521) may be, for example, a plurality of LEDs, but is not limited thereto.

[0117] Lighting (521) can create conditions in which the mounting hole (12) or the mounting pin can be photographed clearly and distinctly by making the mounting hole (12) or the mounting pin area stand out brightly compared to the surrounding area.

[0118] The memory (530) may store a program code for driving the processor (540), a reference image, and an image acquired through the camera (520). Here, the reference image may be provided according to the specifications of the automobile seat track (10). The reference image may be an image of the mounting hole (12) of the seat when the mounting hole (12) of the automobile seat track (10) is aligned with and seated on the mounting pin of the pallet.

[0119] The processor (540) can control the operation of the cushion frame robot (510) and the camera (520).

[0120] The processor (540) can perform machine vision analysis based on the image of the seat track (10) and the reference image and determine a position correction value of the seat track (10). Specifically, the processor (540) calculates the positional displacement of the automobile seat track (10) compared to the reference image and calculates a correction value for the rotation angle and positional displacement of the robot based on the calculated positional displacement.

[0121] The processor (540) automatically controls the position and angle of the cushion frame robot (510) using the calculated position correction value.

[0122] Referring to FIGS. 9 and 10, a seat track loading position correction system may be provided with a pallet for mounting an automobile seat track (10), and a mounting pin may be formed on the pallet to be aligned with a mounting hole (12) of the automobile seat track (10).

[0123] The pallet of the seat track loading position correction system may include a track pallet and a conveyor jig pallet. Referring to FIG. 9, the track pallet refers to a pallet on which a seat track (10) is loaded before the seat track (10) is loaded onto the conveyor by the cushion frame robot (510). In addition, the track pallet loading position refers to a position at which the seat track (10) is loaded onto the track pallet when the seat track (10) is loaded onto the track pallet. Referring to FIG. 10, the conveyor jig pallet refers to a pallet on a conveyor on which a seat track (10) loaded onto the conveyor jig pallet is loaded after being loaded from the track pallet by the cushion frame robot (510). The conveyor jig pallet loading position refers to a position at which the seat track (10) is loaded onto the conveyor jig pallet when the seat track (10) is loaded onto the conveyor jig pallet.

[0124] An RFID recognition system may be provided that detects information from an RFID tag (not shown) attached to a sheet track (10). The RFID recognition system is used to identify objects to which the RFID tag is attached. Simply put, it functions similarly to a barcode. What differentiates RFID from barcode systems is that it uses radio waves instead of light for reading. Therefore, unlike barcode readers, it can read tags from a long distance, and can even receive information through objects in between.

[0125] The RFID information of the automobile seat track (10) detected by the RFID recognition system above stores information on the parts of the seat track (10) that serve as the assembly standard for each option. For example, the automobile seat track (10) is composed of various options such as fabric type, frame type, color, and convenience function, and the RFID information detected by the RFID recognition system may include information on various options such as fabric type, frame type, color, and convenience function.

[0126] Various embodiments of the above-described configurations are described in detail below with reference to the drawings below.

[0127] Additionally, those skilled in the art will understand that, in addition to the above components, other general components may be included in the device (500). Alternatively, those skilled in the art will understand that, in other embodiments, some of the above components may be omitted.

[0128] A device (500) according to an embodiment can be used by a user or a worker, and can include all kinds of handheld-based wireless communication devices equipped with a touch screen panel, such as a mobile phone, a smart phone, a PDA (Personal Digital Assistant), a PMP (Portable Multimedia Player), a tablet PC, etc. In addition, it can also include a device that has a foundation for installing and executing an application, such as a desktop PC, a tablet PC, a laptop PC, an IPTV including a set-top box.

[0129] The device (500) can be implemented as a terminal such as a computer that operates through a computer program to realize the functions described in this specification.

[0130] A device (500) according to one embodiment may include, but is not limited to, a server (not shown). The server according to one embodiment may provide an application that displays a captured image.

[0131] Hereinafter, the description will focus on an embodiment in which a device (500) according to an embodiment independently calculates a correction value. However, as described above, the correction value may also be calculated through linkage with a server. In other words, it can be seen that the device (500) and the server according to an embodiment may be implemented in an integrated manner in terms of their functions, the server may be omitted, and the present invention is not limited to any one embodiment. In addition, the term "device (500)" is described as a superordinate concept encompassing the server, and accordingly, embodiments in which the device (500) provides an alarm may be performed by the server.

[0132] Referring to (a) of FIG. 11, a method for correcting a seat track loading position according to an embodiment of the present invention may include a step of positioning a seat track on a track pallet (S610), a step of confirming a track pallet loading position of the seat track (S620), a step of correcting a track pallet loading position of the seat track (S630), a step of positioning the seat track on a conveyor jig pallet (S640), a step of confirming a conveyor jig pallet loading position of the seat track (S650), a step of correcting a conveyor jig pallet loading position of the seat track (S660), and a step of returning a cushion frame robot to its original position after the seat track is loaded on the conveyor jig pallet (S670).

[0133] In detail, the step of correcting the track pallet mounting position of the sheet track (S630) and the step of correcting the conveyor jig pallet mounting position of the sheet track (S660) can set feature points based on the mounting holes and mounting pins during correction. The position can be corrected based on the feature points.

[0134] Additionally, there is no limitation on the number of mounting holes in the pallet, but preferably, the pallet can have mounting pin sockets mounted in four mounting holes.

[0135] In addition, referring to (b) of FIG. 11, the step of correcting the track pallet mounting position of the sheet track (S630) and the step of correcting the conveyor jig pallet mounting position of the sheet track (S660) may further include a step of collecting position information of mounting pins and mounting holes of a reference image and position information of mounting holes and mounting pins of a photographed image of the sheet track (S661), a step of calculating a positional change between the position information of mounting pins and mounting holes of the reference image and the position information of mounting holes and mounting pins of the photographed image of the sheet track (S662), a step of calculating a correction value of the cushion frame robot based on the positional change calculation result (S663), and a step of performing correction by the cushion frame robot using the calculated value (S664).

[0136] In detail, referring to FIGS. 12 and 13, when calculating the position change between the reference feature point and the feature point of the current sheet track, the position can be identified and corrected based on three degrees of freedom: the transverse distance difference, the longitudinal distance difference, and the angle.

[0137] In addition, the above method may further include an RFID recognition system.

[0138] In detail, referring to (c) of FIG. 11, the step (S610) of positioning a sheet track on a track pallet may further include a step (S611) of detecting an RFID tag attached to the sheet track to obtain specifications of a component mounted on the sheet track. In addition, the step (S630) of correcting a track pallet mounting position of the sheet track and the step (S660) of correcting a conveyor jig pallet mounting position of the sheet track may be a sheet track loading mounting position correction method that corrects a position based on specifications of a component obtained through the RFID tag.

[0139] In one embodiment, at least one of the components of the device (500) may be omitted, or other components may be added. Additionally or alternatively, some of the components may be implemented in an integrated manner, or implemented as a single or multiple entities.

[0140] The steps of a method or algorithm described in connection with an embodiment of the present invention may be implemented directly in hardware, implemented as a software module executed by hardware, or implemented by a combination thereof. The software module may reside in a random access memory (RAM), a read only memory (ROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a flash memory, a hard disk, a removable disk, a CD-ROM, or any other form of computer-readable recording medium well known in the art to which the present invention pertains.

[0141] The foregoing description of the present invention is for illustrative purposes only, and those skilled in the art will readily appreciate that the present invention can be readily modified into other specific forms without altering the technical spirit or essential characteristics of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. For example, each component described as a single entity may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined manner.

[0142] The scope of the present invention is indicated by the claims described below, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention.

[0143]

[0144] The present invention improves the position and stability of a seat track and establishes an automated seat track manufacturing process by utilizing an unmanned transport vehicle and a seat track loading / unloading robot in the seat track manufacturing process, thereby automating the seat track manufacturing process through an unmanned transport vehicle and a seat track loading / unloading robot, thereby implementing a seat track loading / unloading system capable of accurately and quickly manufacturing seat tracks without human labor. However, it can be applied to various industrial fields within the scope of taking the same configuration as in the present invention.

Claims

1. A bogie on which sheet tracks are loaded and unloaded; An unmanned transport vehicle transporting the above bogie; A sheet track loading / unloading robot equipped with a gripper to unload the sheet track from the bogie; and The above sheet track comprises a conveyor on which the sheet tracks are loaded, The above conveyor, A second camera for acquiring images of the mounting holes or mounting pins of the seat track; A memory for storing images obtained from the above camera; A second processor for calculating a position correction value of the sheet track by comparing the stored image with the reference image; and A sheet track loading / unloading system, comprising a second pallet loaded onto the sheet track by the sheet track loading / unloading robot.

2. In paragraph 1, The above car is, The first pallet on which the sheet track is loaded and unloaded; A first camera for determining the settling position; and A sheet track loading / unloading system, characterized by including a first processor that transmits a correction position value based on the mounting position of the first camera to the sheet track loading / unloading robot.

3. In paragraph 2, The above first camera, Check the number of remaining seat tracks in the bogie, The above first processor, A seat track loading / unloading system characterized by receiving information on the number of remaining seat tracks from the first camera and transmitting the information to an unmanned transport vehicle.

4. In paragraph 1, The above unmanned transport vehicle, Transporting the above-mentioned cart to a number of predetermined areas, A seat track loading / unloading system characterized in that when all of the seat tracks within the bogie are unloaded, the bogie is moved to a space outside of the plurality of areas.

5. In paragraph 4, The above unmanned transport vehicle, Further comprising a calculation module for calculating the movement path and shortest waiting time of the above unmanned transport vehicle, A seat track loading / unloading system characterized by moving along a moving path that can achieve the shortest waiting time according to the above calculation module.

6. In paragraph 1, The above sheet track loading and unloading robot is, A seat track loading / unloading system characterized by unloading a seat track from a bogie in a zone with the fewest number of seat tracks among the bogies in a plurality of zones.

7. In paragraph 1, The above sheet track loading and unloading robot is, A seat track loading / unloading system characterized by correcting the position of the seat track based on the correction value obtained from the second processor.

8. In paragraph 1, The second processor, A seat track loading / unloading system characterized by providing a correction value aligned with the seat track using an RFID recognition system.

9. In paragraph 1, The second processor, A seat track loading / unloading system characterized in that it sets feature points based on mounting holes and mounting pins and determines position correction values ​​based on the feature points.

10. In paragraph 9, The second processor above. A seat track loading / unloading system characterized in that the position is determined based on three degrees of freedom: a transverse distance difference, a longitudinal distance difference, and an angle when calculating a positional change between a reference feature point and a feature point of a current seat.

11. A step of moving a bogie including a sheet track and a first pallet to a plurality of predetermined zones by an unmanned transport vehicle; A step of unloading a sheet track from a bogie located in a designated area using a correction position value calculated by a first processor by a sheet track loading / unloading robot; Step 2 where the second camera acquires an image of the sheet track; A step of calculating a correction position value through a second processor and using the sheet track loading / unloading robot to load the sheet track onto the second pallet based on the calculated correction position value; and Including a step of loading the sheet track onto the second pallet and then returning the sheet track loading / unloading robot to the original position; The step of calculating the correction position value through the second processor and using this as the basis for the sheet track loading / unloading robot to load the sheet track onto the second pallet is as follows. A method for loading and unloading a seat track by setting feature points based on mounting holes and mounting pins and correcting the position based on the feature points.

12. In paragraph 11, The step of moving the bogie including the above sheet track to a number of predetermined areas by an unmanned transport vehicle is as follows. A step in which the calculation module determines an algorithm for the shortest travel path of the bogie; and A method for loading and unloading a seat track, comprising a step of moving an unmanned transport vehicle according to a set algorithm.

13. In paragraph 11, The step of unloading the sheet track from the bogie located in the above designated area by the seat track loading / unloading robot using the correction position value calculated by the first processor is as follows. Step of checking the number of sheet tracks in the bogie for each section; A step of moving a bogie in an area where all sheet tracks have been unloaded to a location outside of the above-mentioned multiple designated areas by an unmanned transport vehicle; and A method for loading and unloading sheets, further comprising the step of causing a sheet track loading and unloading robot to unload sheet tracks in an area having the fewest number of sheet tracks.

14. A cushion frame robot equipped with a gripper to secure the seat track; A camera that acquires images of the mounting holes or mounting pins of the seat track; A memory for storing images obtained from the above camera; A processor for calculating a position correction value of a sheet track by comparing the stored image with a reference image, The above cushion frame robot, A device for correcting the position of the sheet track based on a correction value obtained from the above processor, The above device, Set the feature points based on the mounting holes and mounting pins and set the feature points as the reference image. Collect the location information of the mounting pins and mounting holes in the reference image and the location information of the mounting holes and mounting pins in the image of the photographed seat track. Calculate the positional change between the positional information of the mounting pin and mounting hole of the above reference image and the positional information of the mounting hole and mounting pin of the image of the seat track captured from the above camera, A seat track loading position correction system that calculates and corrects the correction value based on the above position change calculation result.

15. In paragraph 14, The above processor, A seat track loading position correction system that provides correction values ​​tailored to the car seat track using an RFID recognition system.

16. In paragraph 14, The above processor, A seat track loading position correction system that sets feature points based on mounting holes and mounting pins and corrects the position based on the feature points.

17. Step of positioning the sheet track on the track pallet; A step for checking the track pallet mounting position of the above sheet track; A step of correcting the track pallet mounting position of the above sheet track; A step of positioning the sheet track on a conveyor jig pallet; Step of checking the conveyor jig pallet mounting position of the above sheet track; A step for correcting the conveyor jig pallet mounting position of the above sheet track; and A step of returning the cushion frame robot to the original position after the sheet track is placed on the conveyor jig pallet; The step of correcting the track pallet mounting position of the above sheet track is: Set feature points based on the mounting holes and mounting pins, and correct the position based on the feature points. A step of collecting position information of mounting pins and mounting holes of a reference image and position information of mounting holes and mounting pins of an image of a photographed seat track; A step of calculating the positional change between the positional information of the mounting pin and mounting hole of the above reference image and the positional information of the mounting hole and mounting pin of the image of the photographed sheet track; A step of calculating a correction value of a cushion frame robot based on the above position change calculation result; and A method for correcting a seat track loading position, comprising a step of correcting a cushion frame robot using the above operation value.

18. In paragraph 17, The step of correcting the conveyor jig pallet mounting position of the above sheet track is: A method for correcting the seat track loading position by setting characteristic points based on mounting holes and mounting pins and correcting the position based on the characteristic points.

19. In paragraph 17, A sheet track loading position correction method that determines the position based on three degrees of freedom: transverse distance difference, longitudinal distance difference, and angle when calculating the position change between a reference feature point and a feature point of the current sheet.

20. In paragraph 18, The step of correcting the conveyor jig pallet mounting position of the above sheet track is: A step of collecting position information of mounting pins and mounting holes of a reference image and position information of mounting holes and mounting pins of an image of a photographed seat track; A step of calculating the positional change between the positional information of the mounting pin and mounting hole of the above reference image and the positional information of the mounting hole and mounting pin of the image of the photographed sheet track; A step of calculating a correction value of a cushion frame robot based on the above position change calculation result; and A method for correcting a seat track loading position, comprising a step of correcting a cushion frame robot using the above operation value.

21. In paragraph 20, A sheet track loading position correction method that determines the position based on three degrees of freedom: transverse distance difference, longitudinal distance difference, and angle when calculating the position change between a reference feature point and a feature point of the current sheet.

22. In paragraph 17, The steps to position the sheet on the track palette are: A method for correcting a seat track loading position, further comprising: a step of detecting an RFID tag attached to a seat to obtain specifications of a part mounted on the seat.

23. In paragraph 22, The step of correcting the track pallet mounting position of the above sheet is: A method for correcting a sheet track loading position by correcting the position based on the specifications of a part obtained through the above RFID tag.

24. In paragraph 22, The step of correcting the conveyor jig pallet mounting position of the above sheet is: A method for correcting a sheet track loading position by correcting the position based on the specifications of a part obtained through the above RFID tag.

Images