Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Study on Design of Mobile Robot for Autonomous Freight Transportation

무인 화물이송 이동로봇의 설계에 관한 연구

  • Jeong, Dong-Hyuk (Dept. of Electrical, Electronic and Control Engineering, Hankyong National University) ;
  • Park, Jin-Il (Smart Logistics Technology Institute, Hankyong National University) ;
  • Kim, Yong-Tae (Dept. of Electrical, Electronic and Control Engineering, Hankyong National University)
  • 정동혁 (국립한경대학교 전기전자제어공학과) ;
  • 박진일 (국립한경대학교 스마트물류연구센터) ;
  • 김용태 (국립한경대학교 전기전자제어공학과)
  • Received : 2013.03.31
  • Accepted : 2013.05.16
  • Published : 2013.06.25
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Abstract

In the paper, we design a autonomous mobile robot for freight transportation and propose an operation method of the robot in the warehouse. In order to implement autonomous navigation, it is needed to recognize the position of the robot and track the path to the target. Previous methods are hard to change the workspace environment and need high cost to install and keep a maintenance of the system. The lifter of freight transportation robot is designed to load and unload a baggage through up and down motion. Also, ultrasonic sensor, RFID, QR-code and camera sensor is used to carry out various functions while the robot navigates in the various environment. We design an operation method of the mobile robot in order to effectively arrive a goal position and transport a freight. The proposed methods are verified through various experiments.

본 논문은 물류 창고 내에서 화물이송을 위한 무인이송로봇을 설계 제작하고 운영기법을 제안한다. 무인이송로봇의 자율 주행을 위해서는 먼저 실시간으로 자기위치를 파악하고 목표지점까지의 경로를 추종해야 한다. 기존의 여러 방식이 제안되었지만 설치 및 유지보수에 대한 비용이 많이 들기 때문에 목적에 따라 유동적으로 작업 환경을 바꾸기는 어렵다는 단점이 있다. 무인 화물이송로봇의 리프트는 상하 운동을 통하여 수화물이 적재된 팔레트의 승하차가 가능하며, 구동 중 다양한 환경에서 여러 기능을 수행하기 위해 초음파센서, LRF센서, RFID, QR코드, 카메라를 장착하였으며, 목표지점까지 효과적으로 주행하며 화물운송을 하는 운영방법을 제안하였다. 제안한 주행 및 운영기법은 실험을 통하여 검증하였다.

Keywords

References

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