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KR-102963131-B1 - Validation methods for location values

KR102963131B1KR 102963131 B1KR102963131 B1KR 102963131B1KR-102963131-B1

Abstract

The present invention relates to a method for determining the position validity of a gantry robot. A method for determining the position validity of a gantry robot according to one embodiment of the present invention is a method for determining the position validity of a gantry robot whose movement is guided by two or more parallel rails, comprising the steps of: generating a detection signal by detecting a dog placed at a point in the direction of travel of the rail by a dog detection sensor mounted on the gantry robot during the operation of the gantry robot; and determining the validity of a position value generated by the gantry robot based on the detection signal. According to the present invention, by determining the validity of a position value generated by the gantry robot using a detection signal generated by detecting a dog placed at a point in the direction of travel of the rail, the reliability of the position value can be improved and accidents caused by position value errors can be prevented.

Inventors

  • 김기환

Assignees

  • 현대무벡스 주식회사

Dates

Publication Date
20260512
Application Date
20230612

Claims (8)

  1. A method for determining the position validity of a gantry robot whose movement is guided by two or more parallel rails, A step of generating a detection signal by a dog detection sensor mounted on the gantry robot detecting a dog placed at any point in the direction of travel of the rail during the operation of the gantry robot; and It includes a step of determining the validity of a position value generated by the gantry robot based on the above detection signal, Two or more of the above dogs are spaced apart from each other on the same rail, and The step of determining the above validity A step of determining whether, for a first detection position value which is a position value at the time when one dog is detected, there exists a reference position value within an error range among two or more previously stored reference position values; and A method for determining position validity, comprising the step of determining whether a position value generated by the gantry robot is valid based on a second detection position value, which is a position value at the time when another dog is detected, if there is no reference position value within an error range with the first detection position value.
  2. In claim 1, the step of determining the validity A method for determining position validity, comprising the step of determining that a position value generated by the gantry robot is valid if a reference position value within an error range with respect to the first detected position value exists.
  3. In Article 1, A method for determining position validity, further comprising the step of storing the position value at the time when the detection signal is generated during the trial operation of the above-mentioned gantry robot as the reference position value.
  4. delete
  5. In claim 1, the step of determining whether the position value is valid If there is no reference position value within the error range with respect to the first detected position value, a step of determining whether there is a reference position value within the error range among two or more previously stored reference position values with respect to the second detected position value; and A method for determining position validity, comprising the step of determining that the position value generated by the gantry robot is invalid if there is no reference position value within the error range of the second detected position value.
  6. In claim 5, the step of determining whether the above position value is valid A method for determining position validity, comprising the step of determining that a position value generated by the gantry robot is valid if a reference position value within an error range with respect to the second detected position value exists, while determining that a placement error of one of the dogs has occurred.
  7. In Article 6, A method for determining position validity, wherein if the above position value is determined to be invalid, the operation of the gantry robot is stopped and an error signal is transmitted, but if it is determined that a placement error of the dog has occurred, the operation of the gantry robot is not stopped and an error signal is transmitted.
  8. In claim 1, the step of determining whether the position value is valid If there is no reference position value within the error range of the first detected position value, a step of determining the reference position value that is second closest to the first detected position value among the previously stored reference position values; and A method for determining position validity, further comprising the step of moving the gantry robot toward the second closest reference position value until the other dog is detected.

Description

Validation methods for location values of a gantry robot The present invention relates to a method for determining the position validity of a gantry robot, and more specifically, to a method for determining the position validity of a gantry robot that can determine the validity of a position value generated by the gantry robot without the intervention of an operator by using a detection signal generated by detecting a dog placed at any point in the direction of travel of a rail. The term "logistics" is an abbreviation of "physical distribution" and refers to the collective function or activities of effectively moving products and goods from producers to consumers. Generally, it encompasses various activities such as packaging, loading and unloading, transportation, storage, and information. Typically, the transportation of products and goods involves various processes such as packaging, storage, collection/loading, transport, unloading/delivery, and storage. Regardless of the means of transportation used, the movement of products and goods is impossible without going through these processes. Physical distribution (logistics) is the comprehensive view of this entire movement. Recently, mass production, mass sales, and mass consumption have become the trends of the times, and as the need to streamline the flow of goods connecting them has grown, the importance of logistics is gradually increasing. A logistics warehouse generally refers to a storage facility designed to temporarily or for long-term store all everyday goods, such as various foodstuffs, beverages, clothing, home appliances, miscellaneous goods, and industrial supplies, that are mass-produced at factories or production sites. Due to the rapid development of the logistics industry in recent years, these warehouses are being designed and constructed to move beyond simple logistics management. They are now designed to facilitate the creation of new business opportunities, ranging from the placement of stored inventory to efficient inbound and outbound operations and inventory management. Since the rapid receiving and shipping of goods is vital for these logistics warehouses, most are equipped with mechanized or automated loading and unloading systems. Typical automated equipment used includes stacker cranes, shuttles, and lifts. In addition, various other devices are utilized, such as conveying systems where transport carts move along rails installed on the warehouse floor or ceiling to transport goods. In addition, gantry robots are also used to transport relatively heavy or large items inside logistics warehouses. Figure 1 is a drawing illustrating an example of a conventional gantry robot. With reference to FIG. 1, a conventional gantry robot is described. The conventional gantry robot (5) is configured to have a gantry girder (5a) coupled to two rails (1-1, 1-2) arranged in parallel so that movement is guided by the rails (1-1, 1-2), and a moving body (5b) coupled to the gantry girder (5a) so that movement is guided by the gantry girder (5a), and an item pickup device capable of picking up items while moving up and down is installed on the moving body (5b). Here, if the rail (1) is arranged in a direction perpendicular to the gantry girder (5a), the direction of movement of the gantry girder (5a) and the direction of movement of the moving body (5b) become orthogonal to each other, so that the item pickup device can move in three axes. At this time, a conventional gantry robot can generate a position value of a gantry girder (5a) using a distance sensing sensor. Specifically, the conventional gantry robot (5) is equipped with a distance sensing sensor (7) capable of detecting a distance to a reflector plate by irradiating a laser toward a reflector plate (3) installed on the extension line of the rail (1) in the direction of travel as shown in FIG. 1, and can generate a position value of a gantry girder (5a) based on the distance generated by the distance sensing sensor (7). The method of generating position values for a gantry robot using such distance sensing sensors (7) has the advantage of generating relatively accurate position values compared to the method of generating position values using motor encoders, but if an external force is applied to the reflector (3) during the operation of the gantry robot and the position or angle of the reflector (3) changes, an error occurs in the position value, and there is a limitation that the occurrence of such an error in the position value cannot be determined without the intervention of an operator. FIG. 1 is a drawing illustrating an example of a conventional gantry robot of the present invention. FIG. 2 is a functional block diagram of a position validity determination system for a gantry robot according to one embodiment of the present invention. FIG. 3 is a drawing illustrating an example of the operation of a gantry robot according to one embodiment of the present invention. FIG. 4 is a diagra