• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for recognizing an unmanned vehicle position using a manless vehicle system. More specifically, the present invention relates to a sequence of a reflector formed corresponding to a predetermined point of a guide rail to which an unmanned vehicle moves. The present invention relates to an unmanned vehicle position recognition method capable of recognizing an absolute position of an unmanned vehicle. To this end, an unmanned vehicle system including a mark having an absolute value in addition to a conventional unmanned vehicle system is disclosed. Disclosed is a position recognition method of an unmanned vehicle that can determine the position of an unmanned vehicle as an absolute position using a mark having an absolute value, and through this system and method it is possible to easily determine the position of an unmanned vehicle in a predetermined track such as a guide rail. That has the advantage.
    公开号:KR20020047446A
    申请号:KR1020000075861
    申请日:2000-12-13
    公开日:2002-06-22
    发明作者:이재남
    申请人:윤종용；삼성전자 주식회사；
    IPC主号:
    专利说明:

    Recognizing method of position for manless vehicle using reflector with absolute value}
    [10] The present invention relates to a method for recognizing an unmanned vehicle position using a manless vehicle system, and more particularly, to a sequence of a reflector formed corresponding to a predetermined point of a guide rail to which the unmanned vehicle moves. The present invention relates to an unmanned vehicle position recognition method capable of recognizing an absolute position of an unmanned vehicle.
    [11] As semiconductor manufacturing technology develops, products are mass-produced, and accordingly, products produced in the workplace are transported through various means. Among them, the unmanned vehicle system is an example of a transport system configured to allow a plurality of carriers to be moved at the same time after loading the produced product in a carrier or a box unit. The unmanned vehicle system has the advantage that the product can be easily and quickly moved from each workplace to the desired destination by moving the unmanned vehicle, but there is a need to accurately recognize the position of each driverless vehicle as a plurality of unmanned vehicles are used.
    [12] FIG. 1 is a block diagram schematically illustrating a conventional unmanned vehicle system, and FIG. 2 is a block diagram illustrating an example of recognizing a position of each unmanned vehicle in the unmanned vehicle system of FIG. 1. Referring to FIGS. 1 and 2, a conventional unmanned vehicle system will be described, and a position recognition method of the unmanned vehicle will be described as follows.
    [13] The conventional unmanned vehicle system 100 includes an unmanned vehicle 10 loaded with a product (not shown) produced in each workshop, and a guide rail 30 and a guide rail hypothesized along a path through which a plurality of unmanned vehicles are moved. The mark 40 is formed to correspond to a predetermined point of the unmanned vehicle 10 is provided with a position reader 20. Each mark is formed only at a point of the guide rail and does not have independent coordinate values for each mark.
    [14] In such an unmanned vehicle system, a method of recognizing the position of an unmanned vehicle is as follows. First, the position reader 20 can detect the rotation value of the motor provided in the unmanned vehicle, and is initialized under arbitrary conditions (eg, the moment when the unmanned vehicle passes each mark). Such initialization of the rotation value may prevent the rotation value from accumulating as the driving of the unmanned vehicle continues, and thus, the rotation value of the motor may be appropriately corresponded to the position of the unmanned vehicle. In addition, the position reader 20 can detect the number of times that the mark has passed each time the unmanned vehicle passes each mark along the guide rail.
    [15] Therefore, as shown in FIG. 2, in the conventional unmanned vehicle system, the position 70 of each unmanned vehicle is recognized using the rotation value 50 of the motor which is initialized based on the mark passing frequency 60 and then advanced. In this case, the mark passing number 60 is the cumulative number of times that the unmanned vehicle passes the mark, and is generally expressed as a relative value. That is, it is expressed as a coefficient value that is sequentially accumulated, such as passing the first mark and then passing the second mark, so that the position of the driverless vehicle is moved to a relative position such as "distance corresponding to the rotation value from the few marks". Is expressed.
    [16] Under this method, it is important for the driverless position reader to recognize all marks. If the unmanned vehicle passes through any mark and the mark is not recognized, the position of the unmanned vehicle may be lost. Alternatively, the position of the driverless vehicle may be misrecognized.
    [17] As such, when the position of the driverless vehicle is lost or the position of the driverless vehicle is incorrectly recognized, the operator must initialize the position reader of the driverless vehicle and then restart the driver.
    [18] In addition, a method using a light sensor mark or a laser is applied as a method for preventing this, but there is a difficulty in applying a high cost to applying an optical sensor mark or a laser technology.
    [19] An object of the present invention is to provide a method for recognizing the position of an unmanned vehicle, which can recognize the position of an absolute driverless vehicle regardless of the order of each mark.
    [20] Another object of the present invention is to provide an unmanned vehicle system that can easily determine the position of the driverless vehicle without expensive equipment.
    [1] 1 is a configuration diagram briefly showing the trajectory of a conventional unmanned vehicle,
    [2] FIG. 2 is a block diagram illustrating an example of recognizing a position of the driverless vehicle of FIG. 1;
    [3] 3 is a configuration diagram briefly showing a trajectory of an unmanned vehicle according to an embodiment of the present invention;
    [4] 4 is a block diagram illustrating an example of recognizing a position of the driverless vehicle of FIG. 3.
    [5] <Description of Symbols for Main Parts of Drawings>
    [6] 10, 110: driverless vehicle 12, 112: motor
    [7] 20, 120: Encoder 30, 130: guide rail
    [8] 40, 140: Reflector
    [9] 100, 200: driverless vehicle system
    [21] In order to achieve these objects, the present invention is driven by a motor, an unmanned vehicle for carrying a product; A guide rail that is hypothesized along a path through which the driverless vehicle moves; A plurality of marks respectively formed corresponding to a predetermined point of the guide rail; And a position reader provided in the unmanned vehicle, the position reader detecting a rotation value of the motor. In the unmanned vehicle position recognition method using an unmanned vehicle system, the marks each have an identification table having an absolute value representing independent coordinates. The position reader further includes a tag reader that can detect an absolute value of the tag, and recognizes an absolute position of the unmanned vehicle using a mark having an absolute value as the unmanned vehicle moves along the guide rail. An unmanned vehicle location recognition method is provided.
    [22] Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.
    [23] FIG. 3 is a block diagram schematically illustrating an unmanned vehicle system 200 according to an exemplary embodiment of the present invention, and FIG. 4 is a block diagram illustrating an example of recognizing a position of each unmanned vehicle in the unmanned vehicle system of FIG. 3. to be. 3 and 4, the unmanned vehicle system according to the present invention will be described, and the position recognition method of the unmanned vehicle will be described as follows.
    [24] The unmanned vehicle system 200 according to the present invention includes an unmanned vehicle 110 loaded with a product (not shown) produced in each workshop, a guide rail 130 hypothesized along a path through which a plurality of unmanned vehicles are moved, and The mark 140 is formed to correspond to a predetermined point of the guide rail, respectively, and the driverless vehicle 110 is provided with a position reader 120. Whereas each mark (40 in FIG. 1) does not have independent coordinate values in the conventional system, the mark 140 according to the present invention is formed at a point of the guide rail and has independent coordinate values for each mark. In addition, the position reader 120 of each unmanned vehicle includes an identification table (ID) having an independent coordinate of each mark 140-for example, an absolute value meaning independent coordinates; Not shown-further includes an ID reader (122) that can be detected.
    [25] In such an unmanned vehicle system, a method of recognizing the position of an unmanned vehicle is as follows. First, the position reader 120 may detect the rotation value of the motor 112 provided in the unmanned vehicle as in the prior art, and may be initialized under an arbitrary condition (eg, the moment when the unmanned vehicle passes each mark). . Such initialization of the rotation value may prevent the rotation value from accumulating as the driving of the unmanned vehicle continues, and thus, the rotation value of the motor may be appropriately corresponded to the position of the unmanned vehicle. In addition, the position reader 120 may recognize the absolute value of each mark by detecting the identification mark displayed on each mark whenever the driverless vehicle passes each mark along the guide rail.
    [26] Therefore, as shown in FIG. 4, in the unmanned vehicle system according to the present invention, the position 170 of each unmanned vehicle is determined using the absolute value 160 of each mark in addition to the rotation value 150 of the motor which has been initialized and then proceeded. Recognize. In this case, the absolute value 160 of the mark is an intrinsic value of each mark that is expressed independently regardless of the number of times that the unmanned vehicle passes the mark, and is typically expressed as an absolute value. That is, the position of the unmanned vehicle can be expressed as an absolute position such as "the distance corresponding to the rotation value from the mark having the absolute value O".
    [27] Here, Figure 3 is a simplified representation for explaining the configuration of the unmanned vehicle system, unlike in Figure 3 a large number of unmanned vehicles can run on any guide rail, and also the number of marks formed along the guide rail is small Not surprisingly.
    [28] In this case, the range of the absolute value displayed on each mark should be able to correspond to all the marks formed on the guide rail, respectively, it is preferable that the range is implemented by a combination value of at least 16 bits or more when applied to the actual semiconductor manufacturing line. That is, about 65000 independent absolute values represented by 2 16 can be represented.
    [29] In addition, according to another embodiment of the present invention, a tag such as a bar code may be used to express the absolute value on each mark. As such, when the barcode is used as the identification tag of each mark, it is obvious that the driver's identification tag reader should be formed as a bar code reader.
    [30] As described above, under the method according to the present invention using the mark having the absolute value, it is possible to easily cope with the case where the position reader of the unmanned vehicle does not recognize all the marks, unlike the prior art. Under the conventional system, when the unmanned vehicle passes an arbitrary mark, if the mark is not recognized, the position of the unmanned vehicle may be lost or the position of the unmanned vehicle may be misrecognized. In contrast, the unmanned vehicle under the system according to the present invention. Even if one of the marks passes without recognition, it has the advantage of recognizing the exact position of the driverless vehicle using the absolute value of the next mark while passing the next mark.
    [31] In the unmanned vehicle position recognition method according to the present invention, even if the position of the unmanned vehicle is lost or the position of the unmanned vehicle is incorrectly recognized unlike the conventional art, the position of the unmanned vehicle can be easily recognized while passing through the next mark. . Therefore, even if the position of the driverless vehicle is lost, the operator does not need to initialize the position reader or the like as in the prior art.
    [32] As described above, the unmanned vehicle position recognition method according to the present invention has an advantage that it is possible to easily determine the position of the unmanned vehicle in a predetermined track, such as a guide rail, by using a mark each having an absolute value.
    [33] The unmanned vehicle position recognition method according to the present invention may be implemented by an unmanned vehicle system including a mark having an absolute value. Unlike in the prior art, each unmanned vehicle is recognized by recognizing the position of the unmanned vehicle using a mark having an absolute value. You can find the absolute position of.
    权利要求:
    Claims (3)
    [1" claim-type="Currently amended] An unmanned vehicle driven by a motor and carrying a product;
    A guide rail arranged along a path through which the unmanned vehicle moves;
    A plurality of marks each formed corresponding to a predetermined point of the guide rail; And
    A position reader provided in the unmanned vehicle and detecting a rotation value of the motor;
    In the unmanned vehicle position recognition method using an unmanned vehicle system comprising a,
    The marks each have a dog tag having an absolute value representing independent coordinates, the position reader further comprises a dog tag reader capable of detecting the absolute value of the dog tag,
    Unmanned vehicle position recognition method characterized in that to recognize the absolute position with respect to the unmanned vehicle using the mark having the absolute value as the unmanned vehicle moves along the guide rail.
    [2" claim-type="Currently amended] 2. The method of claim 1, wherein the absolute value range of the mark is expressed by a combination value of at least 16 bits or more.
    [3" claim-type="Currently amended] The method of claim 1, wherein the mark of the mark is a bar code.
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    同族专利:
    公开号 | 公开日
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    2000-12-13|Application filed by 윤종용, 삼성전자 주식회사
    2000-12-13|Priority to KR1020000075861A
    2002-06-22|Publication of KR20020047446A
    优先权:
    申请号 | 申请日 | 专利标题
    KR1020000075861A|KR20020047446A|2000-12-13|2000-12-13|Recognizing method of position for manless vehicle using reflector with absolute value|
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