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네트워크 기반 무인지게차를 위한 팔레트 자율적재기술의 개발
박지훈(Jee-Hun Park),김민환(Minhwan Kim),이석(Suk Lee),이경창(Kyung-Chang Lee) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.10
Unmanned autonomous forklifts have a great potential to enhance the productivity of material handling in various applications because these forklifts can pick up and deliver loads without an operator and any fixed guide. Especially, automation of pallet loading and unloading technique is useful for enhancing performance of logistics and reducing cost for automation system. There are, however, many technical difficulties in developing such forklifts including localization, map building, sensor fusion, control, and so on. This is because the system requires numerous sensors, actuators, and controllers that need to be connected with each other, and the number of connections grows very rapidly as the number of devices grows. This paper presents a vision sensor-based autonomous loading and unloading for network-based unmanned forklift where system components are connected to a shared CAN network. Functions such as image processing and control algorithm are divided into small tasks that are distributed over a number of microcontrollers with a limited computing capacity. And the experimental results show that proposed architecture can be an appropriate choice for autonomous loading in the unmanned forklift.
무인지게차를 위한 비전센서 기반 팔레트 자율적재기술의 설계 및 평가
박은주(Eunjoo Park),이범석(Bumsuk Lee),이경창(Kyungchang Lee),이석(Suk Lee) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5
Unmanned autonomous forklifts have a great potential to enhance the productivity of material handling in various applications because these forklifts can pick up and deliver loads without an operator and any fixed guide. This paper presents a vision sensor-based autonomous loading and unloading for network-based unmanned forklift where system components are connected to a shard CAN network. Functions such as image processing and control algorithm are divided into small tasks that are distributed over a number of microcontrollers with a limited computing capacity. In order to demonstrate the method’s feasibility, this method is successfully applied to develop an unmanned forklift.
Zheming Cao,Anugrah Kusumo Pamosoaji,Keum-Shik Hong 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
In this paper, we will implement polar polynomial curve (PPC) to produce a continuous-curvature path to guide an unmanned autonomous forklift from an initial to a final position in an unknown environment. Generalized polar polynomials are thus obtained which yields the path for fast motions. Important properties of the polynomials are shown and their use provides a method for computing the best motion consistent with the constraints. The approach is used for a forklift's dynamic model. The simulation result of the approach will be shown.
박지훈(Jeehun Park),송영훈(Younghun Song),이상협(Sanghyob Lee),이경창(Kyungchang Lee),이석(Suk Lee) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
Recently, unmanned vehicle such as AGVs(Automatic Guided Vehicles), OHTs(Overhead Hoist Transfers) are widely used in logistic industrial system. This paper focuses on the feasibility of CAN based distributed control network for active unmanned forklift. An active unmanned forklift has many electronic control units(ECU) that link sensor with actuators to handle intelligent function. The increasing number of electronic control units, sensors, and actuators in active unmanned forklift, and the increasing need for more intelligent functions requires a network with increased capacity and real-time capability.
무인 자율 주행 지게차를 위한 네트워크 기반 분산 제어 시스템의 구조
이주경(Jukyung Lee),이상협(Sanghyob Lee),이경창(Kyungchang Lee),이석(Suk Lee) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5
To enhance the productivity of material handling system in an automated warehouse, an unmanned autonomous forklift will necessitate more elementary functions and systemic integration. However, it is very difficult tasks to integrate various functions for autonomous driving and fork handling. That is because a wiring will rapidly increase when electronic devices such as sensors, actuators, and controllers are increased and the computing capacity of processors will rapidly increase when additional functions are implemented. To reduce these problems, this paper presents an unmanned autonomous forklift with the network-based distributed control system scheme. In the network-based distributed control system scheme, one or two functions are implemented at one microcontroller with a restricted computing capacity and modules are connected with CAN network.
가상물리시스템 개념을 이용한 임베디드 제어 네트워크 시스템 설계에 관한 연구
박지훈,이석,이경창,Park, Jee-Hun,Lee, Suk,Lee, Kyung-Chang 대한임베디드공학회 2012 대한임베디드공학회논문지 Vol.7 No.5
Recent advances in electronics have enabled various conventional products to incorporate with numerous powerful microcontroller. Generally, an embedded system is a computer system designed for specific control functions within a larger system, often with real-time computing constraints. The growing performance and reliability of hardware components and the possibilities brought by various design method enabled implementing complex functions that improve the comport of the system's occupant as well as their safety. A cyber physical system (CPS) is a system featuring a tight combination of, and coordination between, the system's computational and physical elements. The concept of cyber physical system, including physical elements, cyber elements, and shared networks, has been introduced due to two general reasons: design flexibility and reliability. This paper presents a cyber physical system where system components are connected to a shared network, and control functions are divided into small tasks that are distributed over a number of embedded controllers with limited computing capacity. In order to demonstrate the effectiveness of cyber physical system, an unmanned forklift with autonomous obstacle avoidance ability is implemented and its performance is experimentally evaluated.