• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.544-546
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• 1986

In this report, we have designed a Flexible Manufacturing System(FMS) for Engine-Cylinder block that is composed of maching center, special purpose machine, AGV(Automatic Guided Vehicle), using Micro-Computer and Programmable Controller(PC). From this report, we mostly present hardware features and scheduling software.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.3
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• pp.367-372
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• 2012

This paper presents a development of an analog type magnetic positioning system and its positioning accuracy improvement using fuzzy inference system. As the magnetic positioning system used on a magnet-gyro guidance system for AGV(automatic guided vehicle), it measures a position of magnet embedded in floor of the work place. The existing product of the magnetic positioning system is very expensive in Korea because it is being sold in a foreign country exclusively. Moreover, the positioning accuracy of the product is low because it uses digital type unipolar hall sensors. Hence, we developed the magnetic positioning system by ourselves and improved the positioning accuracy of the developed magnetic positioning system using fuzzy inference system. For experiment, we used the analog type magnetic positioning system which we have developed, and compared the performance of the proposed method with the performance of the existing positioning method for the magnetic positioning system. In experimental results, we verified that the proposed method improved the positioning accuracy of the magnetic positioning system.

• Journal of Korea Multimedia Society
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• v.15 no.11
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• pp.1319-1329
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• 2012

AGVs are more and more utilized nowadays and magnetic guided AGVs are most widely used because their system has low cost and high speed. But this type of AGVs requires high infrastructure building cost and has poor flexibility of navigation path layout changing. Thus it is hard to applying this type of AGVs to a small quantity batch production system or a cooperative production system with many AGVs. In this paper, we propose a vision based guideline interpretation technique that uses the cheap, easily installable and changeable color tapes (or paint) as a guideline. So a vision-based AGV with color tapes is effectively applicable to the production systems. For easy setting and changing of AGV navigation path, we suggest an automatic method for interpreting a complex guideline layout including multi-branches and joins of branches. We also suggest a trace direction decision method for stable navigation of AGVs. Through several real-time navigation tests with an industrial AGV installed with the suggested technique, we confirmed that the technique is practically and stably applicable to real industrial field.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.14 no.23
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• pp.47-55
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• 1991

In automated assembly line, an automatic guided vehicle system(AGVS) represents a mire versatile means of moving materials automatically. In this paper, the vehicles not only provide the transportation medium between workstations but also as mobile workstations. The objective for the developed model is the determination of the appropriate time to control AGV based assembly line in order to minimize production makespan while maximizing the efficient use of vehicles. In this paper, we consider the finished goods of two types which are produced in assembly line. The assembly line is considered with and without queue. Because no buffer are present in case 1. this model seeks to determine the point in time at which vehicles should be launched in the assembly line without experiencing a delay. The case 2 model also seek to determine the vehicle launch times while minimizing production makespan. The assumption in this model is that the maximum queue size cannot exceed 1 at any time.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.4
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• pp.115-121
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• 2017

In this paper, the intelligent vision system for an effective and intelligent path-planning of an industrial AGV system based on stereo camera system is proposed. The depth information and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the industrial AGV system and the obstacle detected and the 2D path coordinates obtained from the location coordinates, and then the relative distance between the obstacle and the other objects obtained from them. The industrial AGV system move automatically by effective and intelligent path-planning using the obtained 2D path coordinates. From some experiments on AGV system driving with the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the objects is found to be very low value of 2% on average, respectably.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.12
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• pp.137-144
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• 2001

The major movement blocks of the container are the range between the apron and the designation points on yard in container terminals. The yard tractor drived by operator takes charge of it's movement in conventional container terminals. In automated container terminal, AGV(automatic guided vehicle) takes charge of a yard tractor's role and information of navigation path are ordered from upper control system. The automated container terminal facilities must have the docking system that guides landing zinc to execute high speed travelling and precision positioning. This paper describes the new docking method with the rotating LSB(laser slit beam) generator and two pair of photo receiver. The LSB generator is installed on the fixed ground and the photo receiver is implemented on the moving vehicle such as AGV. The proposed docking system is implemented to confirm it's function and accuracy. The accuracy of measured moving position is represented in ±5mm at 1 data sampling.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.10a
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• pp.271-277
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• 1997

The important parts of the developing AGV model are fabrication of each part and design technology of the body frame. In present day, design of the body frame is depend on the experience of the industry place and the systematic data and the optimal design technology of the frame for the case of model change is insufficient. In this study, the strengths of the AGV(Automatic guided vehicle)are examined with the 3-dimensional Finite Element method. In order to verify the FE results, the computed results are compared with the experimental results are compared with the experimental data from the strain-gage output data. New model designed by removing some parts of the initial model and choosing the thickness change of the rectangular-pipes.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.988-991
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• 2003

In this paper, we try to develop the controller which uses the block diagrams of SIMTool and internal functions CEMTool for planning the global driving controller for high efficiency AGV. We acquire the control efficiency by controlling the motor used each part of AGV driving controller. The block diagram structures provided with SIMTool is easily designed by the controller, and the monitoring and analysis of the results is researched by simulation. We expect to control AGV. robot and various plant using Ziegler-Nichols auto-tuning method and external I/O board

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.5
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• pp.667-672
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• 2011

This paper presents to study the sensor fusion of positioning sensors using UKF(unscented Kalman filter) for positioning accuracy improvement of AGV(automatic guided vehicle). The major guidance systems for AGV are wired guidance and magnetic guidance system. Because they have high accuracy and fast response time, they are used in most of the FMS(flexible manufacturing system). However, they had weaknesses that are high maintenance cost and difficult of existing path modification. they are being changed to the laser navigation in recent years because of those problems. The laser navigation is global positioning sensor using reflecters on the wall, and it have high accuracy and easy to modify the path. However, its response time is slow and it is influenced easily by disturbance. In this paper, we propose the sensor fusion method of the laser navigation and local sensors using UKF. The proposed method is improvement method of accuracy through error analysis of sensors. For experiments, we used the axle-driven forklift AGV and compared the positioning results of the proposed method with positioning results of the laser navigation. In experimental result, we verified that the proposed method can improve positioning accuracy about 16%.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.2
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• pp.140-144
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• 2003

A navigation sensor system for outdoor AGV(Automatic Guided Vehicle) using AMR(Anisotropic Magnetoresitive) sensors is described. We derive a formula of the position of AMR sensor using the measured magnetic field intensity due to permanent magnet with constant distance. The system consists of sensor board. sensor control board and position processing board. The sensor board measures magnetic field intensity, the sensor control board controls the measurement of six sensors sequentially, and the position processing board computes the accurate position of the permanent magnet using Least Square Method. We arranged six sensors at intervals of 30cm and measured the position of the permanent magnet moving at intervals of 30cm. Experimental results showed that we can get standard deviation of 2mm and error of &\pm&4.5mm at a height of 20cm from the permanent magnet.