AUTOMATED TRANSPORTATION SYSTEM BEING FEASIBLE AUTO CORRECTION AND TEACHING LOADING, AND CONTROL METHOD THEREOF

摘要

Disclosed are an automated transportation system making automatic correction and teaching loading possible and a control method thereof. The control method of the automated transportation system making auto correction and teaching loading possible according to an embodiment of the present invention comprises the steps of: making a running and transporting robot move to one corresponding port among ports and arrange a position of the corresponding port to advance a fork handle to the corresponding port wherein the running and transporting robot has the fork handle to load or unload objects to or from a load facility where the objects are loaded and the ports are arranged as entrance or exit gates to carry each of the objects into or take it out of; during advancing the fork hand to the corresponding port for loading the object, calculating and storing a first correction value by a loading position controller capable of controlling the position of the fork handle wherein the first correction value is for correcting a twisted angle between a central line of the fork handle and that of the object according to the advance direction of the fork handle; during advancing the fork hand to the corresponding port for loading the object, calculating and storing a first correction value by the loading position controller wherein the second correction value is for correcting a deviation between the central line of the fork handle and that of the object according to the advance direction of the fork handle; and making the robot run to the remaining ports among the ports, calculating and storing the first correction value and the second correction value, auto-loading necessary objects based on the first correction value and the second correction value corresponding to the ports, respectively, and carrying the objects to destinations. [Reference numerals] (AA) Fork advancing (DN) (Teaching position); (BB) Align sensor chk (Fork align sensor 2EA); (CC) Data calculation (Y, S axis); (DD) Fork backward movement termination (DN) (Teaching position); (EE) Correction data chk; (FF) Fork correction position movement (Correction axis: Y, S); (GG) Searching (X axis) (Center alignment detection sensor 2EA); (HH) Fork up (Correction position: Y, S, X axis); (II) Fork forward movement original position (Up) (Teaching position); (JJ) Fork backward movement (Up); (KK) Error occurrence; (LL) Fork forward movement original position (DN) (Teaching position); (MM) Fork backward movement (DN)