AGV fleet management system having interoperability

Abstract

An AGV operating system having interoperability is disclosed. An AGV operating system having interoperability according to one embodiment of the present invention comprises: an AGV operating server that transmits and receives a first message for AGV operation to a terminal operating system and transmits and receives a second message to an AGV; and an AGV communication interface that converts the second message into a VDA5050 standard; wherein the first message includes a work instruction message transmitted from the terminal operating system to the AGV operating server, and the second message includes an order message for controlling the movement of the AGV transmitted from the AGV operating server to the AGV. According to the present invention, a system is provided that enables the operation of AGVs from multiple manufacturers through interoperability, and enables optimized AGV operation by managing optimal route planning and collision avoidance during the dispatch of AGVs.

Description

Technology Field

[0001] The present invention relates to an AGV operating system having interoperability, and more specifically, to a system that has interoperability to enable the operation of AGVs from multiple manufacturers and enables optimized AGV operation by managing optimal route planning and collision avoidance when dispatching AGVs. Background Technology

[0003] Recently, fierce competition among container terminals has intensified globally, and in this competitive environment, terminals are pursuing full unmanned automation as one of their competitive advantage strategies.

[0004] Domestic ports are striving to secure competitiveness through port automation, including the phased introduction of unmanned remote or automated cranes and R&D (OSS) for the construction of high-productivity automated container terminals. However, due to various constraints such as market encroachment by global companies and limited market size, performance in technology development for service advancement remains sluggish; this is highly likely to have a negative impact not only on the competitiveness of domestic ports but also on the national economy.

[0005] To overcome these problems, the government is pursuing the development of various policies to create smart ports that automatically and autonomously optimize logistics flow through Fourth Industrial Revolution technologies such as artificial intelligence, the Internet of Things, and information and communication technology. However, as these initiatives are being carried out separately by sector—such as quays, transport, and yards—there are limitations to efficiency.

[0006] Meanwhile, the AGV operating systems currently in operation overseas are solutions provided by AGV manufacturers, and if AGVs from other manufacturers are introduced in the future, integration with the existing operating systems of AGVs is impossible or requires significant cost and time.

[0007] When AGVs equipped with autonomous (cooperative) driving technology are introduced, they must be operated in a single AGV operating system together with existing AGVs, but currently, there is no supported AGV operating system.

[0008] Despite the trend toward automation in container terminals, there is a high dependence on manufacturers for AGV operating systems, which hinders the efficiency of terminal operations. The AGV operating systems provided by AGV manufacturers have a problem in that they fail to support additional requirements for functionality and integration, which prevents policy changes aimed at improving the productivity of container terminals from being properly implemented, thereby hindering the maximization of terminal operational efficiency.

[0009] Even if AGVs equipped with enhanced functions or unmanned container transport equipment with new technologies are released in the future, a problem may arise where replacement with new AGVs becomes impossible if the existing AGV operating system is dependent on the AGV manufacturer. Therefore, a manufacturer-independent AGV operating system is required to manage AGVs from two or more different manufacturers, enabling the simultaneous operation of existing and new AGVs. Prior art literature

[0011] Korean Registered Patent No. 10-2655720 (April 3, 2024) "Tree Structure-Based Traffic Control Device and Method for Multiple AGV Operation" Korean Published Patent No. 10-2023-0140869 (October 10, 2023) "Driving Control System for Unmanned Transport Vehicles Using UWB" The problem to be solved

[0012] An AGV operating system having interoperability according to one embodiment of the present invention aims to provide an AGV operating system having interoperability that enables the operation of AGVs from multiple different manufacturers with a single system.

[0013] In addition, the purpose is to provide a system capable of optimized AGV operation by managing the optimal path planning and collision avoidance of AGVs through path setting.

[0014] The problems of the present invention are not limited to the technical problems mentioned above, and other unmentioned technical problems will be clearly understood by those skilled in the art from the description below. means of solving the problem

[0016] An AGV operating system having interoperability according to one embodiment of the present invention comprises: an AGV operating server that transmits and receives a first message for AGV operation to a terminal operating system and transmits and receives a second message to an AGV; and an AGV communication interface that converts the second message into a VDA5050 standard; wherein the first message includes a work instruction message transmitted from the terminal operating system to the AGV operating server, and the second message includes an order message for controlling the movement of the AGV transmitted from the AGV operating server to the AGV.

[0017] In an embodiment, the AGV operation server stores map data set in a coordinate system for a predetermined area of ​​a container terminal, multiple node information assigned coordinate values ​​to each of the predetermined points of the container terminal, and edge information connecting adjacent nodes to each other, and the movement path of the AGV includes a blocked path defined by a first node which is a node occupied by the AGV and an allowed path defined by a second node which is a node not occupied by the AGV, and the order message includes the movement path of the AGV, but may include only the allowed path.

[0018] In an embodiment, the AGV operation server can update the movement path before the AGV arrives at the last node of the allowed path and transmit the updated order message to the AGV.

[0019] In the embodiment, the order message is not updated when the next node of the last node of the allowed path is occupied, and the AGV can stop and wait at the last node.

[0020] In an embodiment, the updated order message may include an updated allowed path where the last node is the source if the next node of the last node of the allowed path is not occupied. Effects of the invention

[0022] According to embodiments of the present invention, at least the following effects are achieved.

[0023] According to the interoperability AGV operating system of the present invention, the system has interoperability to enable the operation of AGVs from multiple manufacturers, and provides a system capable of optimized AGV operation by managing optimal route planning and collision avoidance when dispatching AGVs.

[0024] In addition, the connection between the AGV operating system and the AGV is simplified, which can support easy integration of existing AGVs, AGVs from other manufacturers, or new AGVs.

[0025] In addition, by setting the movement path so that only a single AGV occupies each of the multiple nodes at specific points of the container terminal, optimal path planning and collision avoidance management are possible.

[0026] The effects according to the present invention are not limited to those exemplified above, and various other effects are included in this specification. Brief explanation of the drawing

[0028] FIG. 1 is a schematic diagram of an AGV operating system having interoperability according to an embodiment of the present invention. FIG. 2 is a schematic diagram of an AGV operation server of an interoperable AGV operation system according to an embodiment of the present invention. FIG. 3 is an explanatory diagram of message transmission and reception of an AGV operating system having interoperability according to an embodiment of the present invention. FIG. 4 is an explanatory diagram of an AGV operation server of an AGV operation system having interoperability according to an embodiment of the present invention. FIG. 5 is an explanatory diagram of an order message of an AGV operating system having interoperability according to an embodiment of the present invention. FIGS. 6 and 7 are diagrams illustrating the path setting of an AGV operating system having interoperability according to an embodiment of the present invention. Specific details for implementing the invention

[0029] The present invention is capable of various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the drawings. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various forms and should be understood to include all modifications, equivalents, and substitutions that fall within the spirit and scope of the present invention.

[0030] Prior to the explanation, the terms used in the detailed description are explained. In the following embodiments, terms such as "first," "second," etc., are used not in a limiting sense, but for the purpose of distinguishing one component from another. Therefore, it is understood that the first component mentioned below may be the second component within the technical scope of the present invention. Furthermore, singular expressions include plural expressions unless the context clearly indicates otherwise. Additionally, terms such as "include" or "have" mean that the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification exist, and do not preclude the possibility that one or more other features or components may be added.

[0031] Additionally, the size of components in the drawings may be exaggerated or reduced for convenience of explanation. For example, the size and thickness of each component shown in the drawings are depicted arbitrarily for convenience of explanation, so the present invention is not necessarily limited to what is illustrated.

[0032] Hereinafter, an embodiment according to the present invention will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, identical or corresponding components are given the same reference numerals, and redundant descriptions thereof are omitted.

[0033] An AGV operating system having interoperability according to one embodiment of the present invention has interoperability to enable the operation of AGVs from multiple manufacturers, and is a system capable of optimized AGV operation by managing optimal path planning and collision avoidance when dispatching AGVs.

[0034] FIG. 1 is a schematic diagram of an interoperable AGV operating system according to one embodiment of the present invention, and FIG. 2 is a schematic diagram of an AGV operating server of an interoperable AGV operating system according to one embodiment of the present invention.

[0035] An AGV operating system (1000) having interoperability according to one embodiment of the present invention includes an AGV operating server (100).

[0036] The AGV operation server (100) may include at least one processor (110) and a memory (120) that stores instructions instructing the at least one processor to perform at least one step. Here, the at least one processor (110) may refer to a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which processing procedures of an interoperable AGV operation system (1000) according to one embodiment of the present invention are performed. Each of the memory (120) and the storage device (130) may be composed of at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory (120) may be composed of at least one of a read-only memory (ROM) and a random access memory (RAM). The server (100) may include a transceiver (130) that performs communication via a wireless network. Additionally, the server (100) may further include an input interface device (140), an output interface device (150), and a storage device (160) or a database, etc. Each component included in the server (100) may be connected by a bus (170) to communicate with one another. The above components may be referred to interchangeably by different terms below.

[0037] Furthermore, the interoperable AGV operating system (1000) may further include a client application that can access the AGV operating server (100) to query and manage data.

[0038] FIG. 3 is an explanatory diagram of message transmission and reception of an AGV operating system having interoperability according to an embodiment of the present invention.

[0039] The AGV operation server (100) transmits and receives a first message with the TOS for AGV operation and transmits and receives a second message with the AGV. In the embodiment, the first message and the second message may be distinguished according to the target (TOS, AGV) to which the AGV operation server (100) transmits and receives messages.

[0040] The AGV operation server (100) can receive messages from the TOS (Terminal Operating System) for creating, changing, canceling, completing, etc., work instructions for AGV operation control.

[0041] TOS is a system designed to manage the workflow of containers by receiving information about containers from vessels scheduled to enter the terminal, establishing onboard work plans for container handling and transport equipment to ensure all containers are moved to their correct positions at the precise time, and transmitting work instructions to individual handling equipment. As a comprehensive software system that manages and optimizes port terminal operations, TOS is capable of performing cargo tracking and management, work planning and allocation, inbound and outbound management, inventory management, and cost and billing management.

[0042] The AGV operation server (100) performs functions such as dispatching and routing for the AGV (Automated Guided Vehicle).

[0043] Specifically, it can perform a scheduling function to assign optimal tasks to available AGVs, a task assignment function to assign scheduled tasks based on the real-time availability of AGVs, a path setting function to manage optimal path planning and collision avoidance, and a fleet management function to monitor the traffic status of AGVs and adjust and manage movement priorities.

[0044] The AGV operation server (100) can send and receive the first message with the TOS through the Equipment Control System (ECS) interface and the Application Program Interface (API).

[0045] TOS can send a message to the AGV operation server (100) as a first message for creating, changing, canceling, or completing work instructions for AGV operation control, and furthermore, can send a message linking the work status of port equipment linked to the AGV work target, such as crane work.

[0046] Here, the work instruction message (CreateJob) is a message that conveys movement / work instructions for work information assigned to the AGV, and may be composed of data such as movement sequence, destination, work type, and container information depending on the movement type and work type (ship loading / unloading and premises transfer).

[0047] The CancelJob message is a message requesting the cancellation (suspension) of a specific job instruction that has already been transmitted from the TOS to the AGV operation server (100), and the possibility of cancellation can be checked based on the response message from the AGV operation server (100).

[0048] The UpdateJob message is a message used for changing the destination, etc., among the data of the job instruction message already delivered to the AGV.

[0049] The AGV operation server (100) can send a work instruction processing report message regarding the progress and completion status of the work, and an AGV location and status information report message to the TOS as the first message.

[0050] The Job Status message is a message that reports the processing status of a job order delivered to the AGV, and may include reports on basic movement operations and Fine Tuning statuses for fine adjustment, including job start, completion, rejection, and failure. Furthermore, in addition to job completion, it may provide information on events such as the point of entry into the yard block, the time of arrival at the destination bay within the block, and the time of arrival at the apron.

[0051] The AGV position and status information report message (AytPositionStatus) includes X and Y coordinate data in the coordinate system described below as position information of the AGV, as well as raw latitude and longitude data. It also includes status information of the AGV (equipment status and availability, fuel and battery charge status, speed, work destination, operating mode, etc.).

[0052] Meanwhile, the AGV operation server (100) operates the AGV by sending and receiving a second message to and from the AGV.

[0053] The AGV operation server (100) can send an order message to the AGV as a second message. The order message is a movement instruction message for controlling the movement of the AGV.

[0054] And the AGV can send a status message as a second message to the AGV operation server (100), and the status message is a message that conveys the status information of the AGV. The AGV can send a status message to the AGV operation server (100) when a predetermined event occurs. The status message can be sent when an order message is received, when an updated order message is received, when entering a node, or when an error or warning occurs in the AGV, and can also periodically send the AGV's position (position coordinates and direction (angle)), battery status information, etc., and the status message includes content that can explain each state.

[0055] FIG. 4 is an explanatory diagram of an AGV operation server of an AGV operation system having interoperability according to an embodiment of the present invention.

[0056] In this embodiment, the AGV operation server (100) simplifies the connection with the AGV to support easy and convenient integration of existing AGVs, AGVs from other manufacturers, and new AGVs, and enables parallel operation on the same AGV operation server (100), and for this purpose, has a unified interface between the AGV operation server (100) and the AGV.

[0057] That is, in this embodiment, the AGV operation server (100) is configured to have interoperability. In other words, it is configured so that AGVs from two or more manufacturers can be operated on a single AGV operation server (100).

[0058] Accordingly, this embodiment configures an AGV communication interface (200) at the front-end of a PLC interface module responsible for communication between the AGV operation server (100) and the AGV.

[0059] The AGV communication interface (200) is configured to convert a second message, which is a message transmitted and received between the AGV operation server (100) and the AGV, into the VDA5050 standard.

[0060] The VDA 5050 standard was jointly developed by the German Automobile Manufacturers Association (Verband der Automobilindustrie, VDA) and the German Engineering Association (Verband Deutscher Maschinen- und Anlagenbau, VDMA), and enables AGV systems from various manufacturers to be interoperable by allowing different AGV systems to communicate and cooperate seamlessly in the same environment.

[0061] In this embodiment, by configuring an AGV communication interface (200) responsible for converting the second message, particularly the message transmitted from the AGV to the AGV operation server (100) into VDA5050, the AGV operation server (100) is able to control all AGVs communicating through the PLC interface using the same message.

[0062] That is, by simplifying the connection between the AGV operation server (100) and the AGV, it supports easy integration of existing AGVs with AGVs from other manufacturers or new AGVs, and enables the provision of a unified interface with the AGV and VDA5050 message format within the same AGV operation server (100), and since the conversion of AGV messages from all manufacturers can be implemented at the same level, it is easy to implement and manage.

[0063] Through the AGV communication interface (200), in the case of AGVs from different manufacturers that use a PLC (Programmable Logic Control) communication protocol, they can be converted into VDA5050 messages via OPC (OLE for process Control) / OPCUA (Open Platform Communication Unified Architecture) configured in the AGV communication interface (200). In addition, in the case of heterogeneous AGVs that support the VDA5050 standard, they can directly send and receive messages with the AGV operation server (100) by bypassing the OPC and only undergoing procedures such as validation in the AGV communication interface (200).

[0064] Here, OPC and OPCUA are standard protocols used in industrial automation and data communication; OPC is a communication standard developed to standardize data exchange, while OPCUA differs from OPC in that it is platform-independent.

[0065] In summary, all messages received from the PLC electrical system of the AGV are converted into the VDA5050 standard at the AGV communication interface (200) and transmitted to the AGV operation server (100), and VDA5050 messages transmitted from the AGV operation server (100) are transmitted to the PLC electrical system through the AGV communication interface (200) and linked with the AGV.

[0066] FIG. 5 is an explanatory diagram of an order message of an AGV operating system having interoperability according to an embodiment of the present invention.

[0067] As described above, the AGV operation server (100) performs the function of setting the path of the AGV.

[0068] Accordingly, the AGV operation server (100) can set a specific area of ​​the container terminal as a coordinate system to create and save map data (file).

[0069] The AGV operation server (100) sets and stores node (N) and edge (E) information for controlling the movement and setting the path of the AGV. Accordingly, the AGV operation server (100) sets specific points of the container terminal as nodes, and the nodes may have coordinate values. The edge is a path between adjacent nodes. As described below, in this embodiment, a single node is operated to be occupied by only a single AGV.

[0070] The AGV operation server (100) sets the movement path of the AGV and controls the movement by sending an order message to the AGV. The order message includes information regarding nodes and edges, and the AGV moves through the information regarding nodes and edges.

[0071] Multiple nodes are included between the starting point and the destination of the AGV, that is, multiple nodes are included between the starting node and the destination node, and appropriate nodes are selected to form a movement path of the AGV from the starting node to the destination node. At this time, at least one of the multiple nodes may be an intersection point with the movement path of another AGV. Also, multiple AGVs may move sequentially along the same movement path.

[0072] At this time, the AGV operation server (100) does not transmit information on multiple nodes forming a movement path to the AGV at once. In other words, a single order message does not provide the entire movement path of the corresponding order. In order to control traffic within the terminal and to control the entire transport order so that only a single AGV occupies a single node, the present embodiment designs and transmits order messages to divide the movement and path setting of the AGV into multiple sub-sequences.

[0073] FIGS. 6 and 7 are diagrams illustrating the path setting of an AGV operating system having interoperability according to an embodiment of the present invention.

[0074] Accordingly, the AGV operation server (100) distinguishes between a node occupied by an AGV (hereinafter referred to as the 'first node') and a node not occupied by an AGV (hereinafter referred to as the 'second node'). In this embodiment, a path formed by the edge between the node occupied by the AGV (first node) and the node is defined as a blocked path, and a path formed by the edge between the node not occupied by the AGV (second node) and the node is defined as an allowed path. That is, the allowed path is a movement path formed by the edges sequentially connected to the second node. And the blocked path can be converted into an allowed path. That is, if the node occupied by the AGV is no longer occupied by the movement of the AGV, the blocked path is converted into an allowed path.

[0075] The AGV operation server (100) transmits a movement path to the AGV via an order message, and the order message includes only the allowed path. That is, among the multiple nodes included from the origin node to the destination node of the AGV to which the order message was transmitted, the AGV operation server (100) provides the order message only up to the movement path formed by the edge connecting the second nodes, which is sequentially connected from the origin node.

[0076] Then, the AGV operation server (100) receives location information from the AGV and, before reaching the last node of the allowed path, transmits updated movement path information to the AGV. This is because depending on whether the AGV occupies each node, the blocked path may be converted to an allowed path or the allowed path may be converted to a blocked path, and accordingly, the ability of the AGV to move is determined.

[0077] Therefore, before the AGV arrives at the last node of the allowed path, an updated path including other nodes is sent to the AGV.

[0078] If the next node of the last node of the allowed path among the movement paths is still occupied by an AGV, that node is a blocked path, and since a single node in this embodiment can only be occupied by a single AGV, the movement path is not updated and therefore the order message is not updated either. In this case, the AGV maintains a stopped and waiting state at the last node of the allowed path. This continues until an updated order message is received.

[0079] And if the next node of the last node of the allowed path is not occupied by the AGV, the next node is in a state where it has switched from the blocked path to the allowed path, and therefore, the order message is updated by reflecting the movement path formed by the edge connecting the second nodes sequentially placed from the next node and then provided to the AGV.

[0080] In Fig. 6, the movement path information of the Order message for the movement path of the AGV can be configured as follows.

[0081]

[0082] Here, 'released' can mean an allowed path, and by sending orderUpdateId as 0, it can be indicated that it is the first path of the corresponding AGV.

[0083] And in Fig. 7, the movement path information of the updated order message for the movement path of the AGV thereafter can be configured as follows.

[0084]

[0085] Here, by sending orderUpdateId as 1, it can be indicated that this is the second path of the corresponding AGV. Node 7 is an allowed path element of the previous message sent for updating the order message, and since Nodes 6 and 4 sent to the first AGV movement path are no longer valid, the AGV operation server (100) can control the path by excluding them from the update path so that another AGV can occupy the corresponding node.

[0086] As described above, according to the present invention, a system is provided that enables the operation of AGVs from multiple manufacturers by having interoperability and by managing optimal route planning and collision avoidance during the dispatch of AGVs.

[0087] The use of all examples or exemplary terms (e.g., etc.) in the present invention is merely for the purpose of describing the invention in detail, and the scope of the invention is not limited by such examples or exemplary terms unless limited by the claims. Furthermore, a person skilled in the art will understand that various modifications, combinations, and changes may be made according to design conditions and factors within the scope of the claims or equivalents to which they are added.

[0088] Accordingly, the scope of the present invention is not limited to the embodiments described above, and all scopes equivalent to or equivalently modified from the claims set forth below, as well as the claims set forth below, shall be considered to fall within the scope of the concept of the present invention. Explanation of the symbols

[0089] 1000 : Interoperable AGV operating system 100: AGV Operation Server 200: AGV Communication Interface

Claims

Claim 1 An AGV operation server that transmits and receives a first message for AGV operation to and from a terminal operation system and transmits and receives a second message to and from an AGV, stores map data in which a predetermined area of ​​a container terminal is set as a coordinate system, stores multiple node information in which coordinate values ​​are respectively assigned to predetermined points of the container terminal, and stores edge information connecting adjacent nodes; and an AGV communication interface configured at the front-end of a PLC interface module responsible for communication between the AGV operating server and the electrical system of the AGV, which converts the second message transmitted from the AGV to the AGV operating server into the VDA5050 standard; wherein the first message includes a work instruction message transmitted from the terminal operating system to the AGV operating server, and the second message includes an order message for controlling the movement of the AGV transmitted from the AGV operating server to the AGV, and the movement path of the AGV is operated such that only a single AGV occupies a single node, and includes a blocked path defined by an edge between a first node, which is a node occupied by the AGV, and an allowed path defined by an edge between a second node, which is not occupied by the AGV, and the second node, and the order message includes the movement path of the AGV, but only the allowed path, and the AGV An AGV operating system having interoperability that determines whether to update the movement path based on whether the next node of the last node of the allowed path is occupied before arriving at the last node of the allowed path. Claim 2 delete Claim 3 delete Claim 4 An interoperable AGV operating system according to claim 1, wherein the order message is not updated when the next node of the last node of the allowed path is occupied, and the AGV stops and waits at the last node. Claim 5 In paragraph 4, the updated order message is an interoperable AGV operating system that includes an updated allowed path where the last node is the source when the next node of the last node of the allowed path is not occupied.

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