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KR-20260067727-A - GUIDE DRIVING APPARATUS AND DRIVING METHOD THEREOF

KR20260067727AKR 20260067727 AKR20260067727 AKR 20260067727AKR-20260067727-A

Abstract

The present invention relates to a guide driving device, and the present invention may include a guide driving device that moves through a space in which the inner surface is made of a membrane sheet, comprising: a robot body part having at least six sides; a driving part provided in the robot body part that is capable of steering and provides driving force; a sensor part provided on one side of the robot body part as a displacement sensor and detects the membrane sheet; a calculation part that compares or calculates a detection value detected by the sensor part with a pre-entered value; and a control part that controls the driving part to determine the direction of movement according to the comparison or calculation value shown by the calculation part. The present invention is suitable for use in environments inside warehouse-type buildings with internal spaces, such as LNG cargo tanks, and since the sensor unit detects the wall surface and guides, it does not deviate from a predetermined distance, thereby improving driving stability, and various modules are detachable, allowing it to perform various tasks in addition to transporting goods.

Inventors

  • 백성진
  • 박신구
  • 정훈철
  • 박정원

Assignees

  • 에이치디한국조선해양 주식회사

Dates

Publication Date
20260513
Application Date
20241106

Claims (10)

  1. In a guide driving device that moves through a space in which the inner surface is made of a membrane sheet, A robot body part consisting of at least six sides; A driving unit provided in the above-mentioned robot body that is capable of steering and provides driving force; A sensor unit provided on one side of the robot body as a displacement sensor and detecting the membrane sheet; A calculation unit that compares or calculates a detection value detected by the sensor unit and a pre-entered value; and A control unit that controls the driving unit to determine the direction of movement according to the comparison or calculation value shown in the calculation unit above; A guide driving device including
  2. In paragraph 1, A guide driving device having at least three sensor parts provided on one side of the robot body facing the membrane sheet.
  3. In paragraph 1, A guide driving device having sensor parts provided on all sides of the robot body, and at least three sensor parts provided on one side of the robot body.
  4. In paragraph 2, A guide driving device in which, when the robot body enters a corner and changes its direction of movement, the robot body rotates in correspondence with the membrane bent at the corner.
  5. In paragraph 3, A guide driving device in which, when the robot body enters a corner and changes its direction of movement, the robot body moves in correspondence with the membrane bent at the corner without rotation.
  6. In paragraph 1, The above control unit is a guide driving device that controls the above driving unit to drive at a predetermined speed.
  7. In paragraph 6, The above membrane sheet includes a plurality of protrusions spaced apart by a predetermined interval, and The above control unit is a guide driving device that checks the point in time when the above protrusion is detected while moving at a predetermined driving speed.
  8. In paragraph 1, A welding module that can selectively and detachably attach the membrane sheet to the upper surface of the robot body part so as to be weldable; A guide driving device further including
  9. (a) A placement step in which a guide driving device is placed in a space where the inner surface is provided with a membrane sheet; (b) An input step of calculating and inputting the length of the membrane sheet or the distance of a protrusion protruding from the membrane sheet after the above placement step; (c) A driving step that sends an electrical signal to drive at a predetermined speed and direction according to the user's intention after the above input step; (d) a detection step in which a sensor unit continuously detects the membrane sheet and the protrusion during the driving step; and (e) A calculation step for comparing or calculating the value detected in the detection step with the input value previously entered in the input step; A guided driving method including
  10. In Paragraph 9, (f) A judgment and modification step in which the driving unit stops driving, modifies the direction of movement, or rotates according to the command of the control unit based on the result calculated in the above calculation step; A guided driving method that further includes

Description

Guide Driving Apparatus and Driving Method The present invention relates to a guide driving device and a driving method. Generally, Automated Guided Vehicles (AGVs) are used for moving materials around manufacturing facilities or warehouses, typically by following markers or wires on the floor or using vision, magnets, or lasers for navigation. Guidelines for the driving of AGVs can be implemented using wires installed below the ground or in the air, or optical or magnetic tapes installed on the ground or walls. Meanwhile, Autonomous Mobile Robots (AMRs) have the ability to perceive their surroundings and make decisions on their own. By using cameras, LIDAR, or various sensors to detect and avoid obstacles, AMRs can be operated more dynamically and flexibly than AGVs. When logistics mobile robots (AGVs, AMRs) move inside warehouse-type buildings with internal spaces, such as LNG cargo tanks, operating without a separate guide based on the walls causes problems where they move too far away from or too close to the walls. Consequently, there is a risk of falling when operating on upper floors rather than the ground. Accordingly, while guidelines could be established for AGVs, there is a problem in that it is difficult to quickly establish guidelines on upper floors rather than the floors of deformable warehouse-type buildings. In addition, in the case of LNG cargo tanks, there is a problem in that it is difficult for AGVs to travel in a straight line while maintaining a constant distance due to the corrugation of the membrane sheet with an uneven shape. FIG. 1 is a schematic plan view illustrating an exemplary space in which a guide driving device according to an embodiment of the present invention operates. FIG. 2 is a schematic perspective view showing the operation of a guide driving device according to an embodiment of the present invention. FIG. 3 is a block diagram of a guide driving device according to an embodiment of the present invention. Fig. 4 is another embodiment of Fig. 3. FIGS. 5 to 7 are schematic drawings showing the operation of a guide driving device according to an embodiment of the present invention. Figure 8 is a graph showing the distance values at which the sensor unit detected the membrane sheet in the situation of Figure 5 over time. Figure 9 is a graph showing the distance values at which the sensor unit detected the membrane sheet in the situation of Figure 6 over time. Figure 10 is a graph showing the distance values at which the sensor unit detected the membrane sheet in the situation of Figure 7 over time. Figure 11 is a diagram schematically showing the position at each point in the graph of Figure 9. FIG. 12 is a flowchart showing the driving and operation process of a guide driving device according to an embodiment of the present invention. Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that in assigning reference numerals to the components of each drawing, the same components are given the same reference numeral whenever possible, even if they are shown in different drawings. Furthermore, in describing the embodiments of the present invention, if it is determined that a detailed description of related known components or functions would hinder understanding of the embodiments of the present invention, such detailed description is omitted. Additionally, terms such as first, second, A, B, (a), (b), etc., may be used when describing the components of the embodiments of the present invention. These terms are intended merely to distinguish the components from other components, and the essence, order, or sequence of the components is not limited by these terms. Where it is stated that a component is “connected,” “combined,” or “joined” to another component, it should be understood that the component may be directly connected or joined to the other component, but that another component may also be “connected,” “combined,” or “joined” between each component. Hereinafter, a guide driving device according to an embodiment of the present invention will be described with reference to the attached drawings. FIG. 1 is a plan view schematically illustrating an exemplary space in which a guide driving device according to an embodiment of the present invention is operated, FIG. 2 is a perspective view schematically showing the operation of a guide driving device according to an embodiment of the present invention, FIG. 3 is a block diagram of a guide driving device according to an embodiment of the present invention, FIG. 4 is another embodiment of FIG. 3, FIG. 5 to 7 are diagrams schematically showing the operation of a guide driving device according to an embodiment of the present invention, FIG. 8 is a graph showing the distance values detected by the sensor unit of the membrane sheet in the situation of FIG. 5 over time, FIG. 9 is a graph showing the distance values detected by the sensor unit o