Heterogeneous logistics robot integrated operation system and method thereof

Abstract

The invention discloses a heterogeneous logistics robot integrated operation system and a method thereof. According to the embodiment of the invention, the heterogeneous logistics robot integrated operation system comprises a first logistics robot and a second logistics robot, the first logistics robot is constructed to transport logistics in a production plant, and the second logistics robot is constructed to be different from the first logistics robot in model; the first local control system is configured to control the operation state of the first logistics robot, and the second local control system is configured to control the operation state of the second logistics robot; the integrated control system is configured to collect position information of the first logistics robot and the second logistics robot and monitor whether the first logistics robot and the second logistics robot are located in a preset traffic area at the same time or not based on the position information; wherein, when the first logistics robot and the second logistics robot are simultaneously located within the traffic area, at least one of the integrated control system and the local control system is configured to perform traffic control by stopping or decelerating the logistics robots and then sequentially operating according to a predetermined priority condition.

Description

Technical Field

[0001] The present invention relates to a heterogeneous logistics robot integrated operating system and method thereof, and more specifically, to a heterogeneous logistics robot integrated operating system and method thereof that supports optimal (smooth) route operation by controlling the traffic of heterogeneous AGVs / AMRs used in industrial sites. Background Art

[0002] Generally speaking, vehicle manufacturers based on smart factory systems modularize the automated production line process to assemble various parts of different components and ensure flexible transportation of parts (including products, etc.) in each process, operating heterogeneous logistics robots. In the automation process, any interruption in the supply of parts during operation may cause the production line to stop working and affect production efficiency. Therefore, it is crucial to ensure the timely and accurate supply of parts through the smooth operation of logistics robots.

[0003] On the other hand, heterogeneous logistics robots including automated guided vehicles (AGVs) and autonomous mobile robots (AMRs) from different manufacturers are deployed for operation and managed by separate local systems according to manufacturers and models.

[0004] However, when AGVs and AMRs operate simultaneously in the limited space of a factory, traffic areas inevitably occur due to overlapping transport routes, in which AGVs and AMRs of different manufacturers (models) or purposes cannot communicate with each other, making traffic control impossible.

[0005] In addition, the lack of interconnection means between different systems operating heterogeneous logistics robots separately may lead to collision accidents in sections where different routes overlap, such as intersections, and may cause delays in parts supply due to increased traffic volume.

[0006] In addition, increasing the number of logistics robots to ensure a smooth supply of parts has the disadvantage of increased costs, and the increased congestion (density) of logistics robots in a limited space will further aggravate traffic problems.

[0007] Therefore, a solution is needed to improve the operational efficiency (turnover rate) of logistics robots through traffic control and effective operation of heterogeneous logistics robots.

[0008] The matters described in this background section are provided for enhancement of understanding of the background of the invention and may include aspects of the prior art that are not known to one of ordinary skill in the art. Summary of the invention

[0009] Technical issues

[0010] Embodiments of the present invention aim to provide a heterogeneous logistics robot integrated operating system and method thereof, which centrally integrate and control heterogeneous logistics robots from different manufacturers operating in a production plant, identify logistics robots in traffic areas or overlapping routes, and perform traffic control by scheduling the logistics robots in sequence according to priority conditions.

[0011] Another object of the present invention is to provide an integrated operating system and method for heterogeneous logistics robots, which improve the operating efficiency of logistics robots by centrally monitoring the operating status of different heterogeneous logistics robots and controlling these logistics robots through detour routes when an incident occurs on the transportation route.

[0012] Technical Solution

[0013] According to an exemplary embodiment, a heterogeneous logistics robot integrated operating system is provided, including: a first logistics robot constructed to transport logistics in a production plant and a second logistics robot constructed as a model different from the first logistics robot; a first local control system configured to control the operating state of the first logistics robot and a second local control system configured to control the operating state of the second logistics robot; an integrated control system configured to collect location information of the first logistics robot and the second logistics robot, and monitor whether the first logistics robot and the second logistics robot are simultaneously located in a preset traffic area based on the location information; wherein, when the first logistics robot and the second logistics robot are simultaneously located in the traffic area, at least one of the integrated control system and the local control system is configured to perform traffic control to stop or slow down the logistics robots, and then operate in sequence according to predetermined priority conditions.

[0014] The integrated control system can be configured to perform traffic control by tracking the transportation routes of the logistics robots, identifying and stopping multiple logistics robots existing in overlapping routes, and dispatching multiple logistics robots in sequence according to predetermined priority conditions.

[0015] The local control system can be configured to identify the location information of heterogeneous logistics robots including automated guided vehicles (AGVs) and autonomous mobile robots (AMRs) and send the location information to the integrated control system.

[0016] The location information may include the logistics robot ID, the current coordinates in the factory map (MAP) coordinate system, the moving direction, and the speed.

[0017] The integrated control system may include: a task management unit, configured to select at least one logistics robot required for transportation based on logistics sequence information according to the type of logistics and determine the starting point and destination; a traffic area setting unit, configured to set a traffic area for priority-based traffic control at an intersection where the transportation routes of the logistics robots overlap; a monitoring unit, configured to collect location information of the logistics robots and monitor traffic occurrences through a local control system; a database (DB), configured to store at least one program and data for the integrated operation of heterogeneous logistics robots; and a control unit, configured to check the current location information of the logistics robot that has entered the traffic area, and control the logistics robot to slow down or temporarily stop according to the section corresponding to the traffic area through the local control system.

[0018] The traffic area setting unit may be configured to provide a plant design drawing (CAD) through a traffic control setting interface, and set a traffic area in a section where traffic occurs by using various shapes.

[0019] Traffic areas can be set in user-specified (Draw) segments, or automatically by detecting traffic coordinates where multiple routes overlap on the design drawing.

[0020] The traffic area may include a guard section, a warning section and a standby section, each section having different shapes and sizes based on the risk level centered on the traffic coordinates, and may be configured to perform deceleration or stop control according to the section corresponding to the location information of the logistics robot.

[0021] The traffic area setting unit can be configured to set the priority conditions of traffic control through the traffic control setting interface, and the priority conditions are used to sequentially schedule the logistics robots that have stopped after entering the traffic area or overlapping routes.

[0022] The priority conditions may include at least one of the following: the order of logistics robots with lower remaining power, the order of logistics robots with shorter remaining distances to the destination, the order of logistics robots with higher process priorities, the order of logistics robots with longer remaining distances to the destination, the order of logistics robots with higher supply priorities, the order of logistics robots with higher retrieval priorities, the order of higher priorities between different models (AGV / AMR), and the order of higher priorities between process cells (Cell).

[0023] The priority condition may have a relative priority weight value applied to each item, and the weight value may be variably adjusted according to a work plan in a production plant and an operating status of a logistics robot.

[0024] The control unit can be configured to track the location of the logistics robot through the monitoring unit, detect entry into a traffic area, and send a deceleration or stop command through a local control system corresponding to the model of the logistics robot.

[0025] The control unit may be configured to determine priorities of a plurality of logistics robots existing in a traffic area based on a priority condition, and control sequential scheduling or movement of the plurality of logistics robots.

[0026] The control unit may be configured to generate a virtual robot area at a predetermined distance from an outer edge of the logistics robot through the monitoring unit to ensure a safe distance, and control the logistics robot to stop when the virtual robot areas overlap with each other.

[0027] The control unit may be configured to regenerate and send a detour route through an integrated route setting unit based on monitoring when at least one of an obstacle situation, a congestion situation, or a lane-specific congestion is detected in front of the logistics robot.

[0028] According to an exemplary embodiment, an integrated operation method of a heterogeneous logistics robot is provided, wherein an integrated control system can operate heterogeneous logistics robots of different models, the method comprising: setting a traffic area in a section where transportation routes overlap in a production plant, and setting priority conditions for traffic control of logistics robots that have entered the traffic area; determining a starting point and a destination for logistics transportation by a first logistics robot through a first local control system, and generating task assignment information including a transportation route to operate the first logistics robot; collecting location information of the first logistics robot from the first local control system and monitoring the operating status of the first logistics robot; and when monitoring detects that the first logistics robot has entered a traffic area where at least one second logistics robot exists, or when a route overlap with a second logistics robot occurs, performing traffic control by stopping or slowing down the first logistics robot, and then operating in sequence according to predetermined priority conditions.

[0029] Executing traffic control may include: determining high-priority logistics robots and low-priority logistics robots based on priority conditions, the priority conditions including at least one of the following: the order of logistics robots with lower remaining power, the order of logistics robots with shorter remaining distances to the destination, the order of logistics robots with higher process priorities, the order of logistics robots with longer remaining distances to the destination, the order of logistics robots with higher supply priorities, the order of logistics robots with higher retrieval priorities, the order of higher priorities between different models (AGV / AMR), and the order of higher priorities between process cells (Cell); and dispatching high-priority logistics robots first and keeping low-priority logistics robots on standby.

[0030] Performing traffic control may include: when a route overlap occurs with the second logistics robot, slowing down and stopping the first logistics robot and the second logistics robot through the first local control system and the second local control system; and while keeping the low-priority logistics robot on standby, first scheduling the first logistics robot or the second logistics robot based on priority conditions.

[0031] Executing traffic control may further include: detecting through monitoring whether an obstacle or congestion occurs on the transportation route of the first logistics robot; and regenerating a detour route through the task management unit or the first local control system and sending it to the first logistics robot.

[0032] Regenerating the detour route may include at least one of the following: canceling the existing transport route that uses the first lane (Lane#1) where the event has occurred, and regenerating the detour route using the second lane (Lane#2); and comparing the occupancy rates of the first lane (Lane#1) in the existing transport route and the second lane (Lane#2) in the detour route, and resetting the route to use the second lane (Lane#2) with a lower occupancy rate.

[0033] Beneficial Effects

[0034] According to an embodiment of the present invention, by integrating and operating heterogeneous logistics robots of different manufacturers or models through an integrated control system implemented in a production plant, traffic control between logistics robots that cannot communicate with each other can be achieved without the need for additional components.

[0035] In addition, by monitoring the operating status of each heterogeneous logistics robot through the heterogeneous local control system and identifying logistics robots entering fixed traffic areas, such as intersections, or overlapping routes, priority-based traffic control can be performed to ensure the smooth supply of logistics.

[0036] In addition, by detecting obstacle events or congestion on the transportation route of the logistics robot in real time and controlling the logistics robot to move quickly along a detour route to avoid such situations, the turnover rate of the logistics robot can be maximized, thereby reducing additional deployment costs and achieving maximum operational efficiency with a minimum number of logistics robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 The configuration of a heterogeneous logistics robot integrated operating system according to an embodiment of the present invention is schematically illustrated.

[0038] Figure 2 A heterogeneous logistics robot integrated operating system implemented in a vehicle manufacturing plant according to an embodiment of the present invention is shown.

[0039] Figure 3A priority-based route traffic control setting interface according to an embodiment of the present invention is shown.

[0040] Figure 4 The state of a heterogeneous logistics robot entering a traffic area according to an embodiment of the present invention is shown.

[0041] Figure 5 A state in which overlapping routes between multiple logistics robots are detected according to an embodiment of the present invention is shown.

[0042] Figure 6 It is a flow chart schematically illustrating a heterogeneous logistics robot integrated operation method according to an embodiment of the present invention.

[0043] Figure 7 An example of traffic control between logistics robots in a traffic area according to an embodiment of the present invention is shown.

[0044] Figure 8 and Fig. 9 An example of traffic control of a logistics robot in response to a front obstacle event according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0045] Embodiments of the present invention will now be described in detail with reference to the accompanying drawings so that those skilled in the art to which the present invention pertains can easily carry out the present invention.

[0046] The terms used herein are only used to describe specific embodiments and are not intended to limit the present invention. As used herein, unless otherwise clearly stated in the context, the singular form is also intended to include the plural form. The terms "including" and / or "including" used in this specification specify the presence of the features, elements, steps, operations, parts and / or modules, but do not exclude the presence or addition of one or more other features, elements, steps, operations, parts, modules and / or groups thereof. As used herein, the term "and / or" includes any and all combinations of the items listed in question.

[0047] Throughout the specification, terms such as first, second, A, B, (a), and (b) may be used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one component from another component and do not define the nature, order, or sequence of the corresponding components.

[0048] Throughout the specification, when a component is described as being “connected to” or “coupled to” another component, it should be understood that the component may be directly connected to or coupled to the other component, or an intermediate component may exist between them. Conversely, when a component is described as being “directly connected to” or “directly coupled to” another component, it should be understood that there are no intermediate components between them.

[0049] In addition, it should be understood that one or more methods described below or aspects thereof may be performed by at least one control unit. The term "control unit" may refer to a hardware device including a memory and a processor. The memory is configured to store program instructions, and the processor is specifically programmed to run the program instructions to perform one or more processes described below. The control unit may control the operation of the units, modules, components, devices or similar elements described herein. In addition, it should be understood that those skilled in the art recognize that the methods described below may be performed by a device including a control unit and one or more other components.

[0050] Moreover, the control unit of the present disclosure can be implemented as a non-transitory computer-readable recording medium containing executable program instructions executed by a processor. Examples of computer-readable recording media include read-only memory (ROM), random access memory (RAM), compact disk (CD)-ROM, magnetic tape, floppy disk, flash drive, smart card and optical data storage device, but are not limited thereto.

[0051] A heterogeneous logistics robot integrated operating system and method according to an embodiment of the present invention will now be described in detail with reference to the accompanying drawings.

[0052] Figure 1 The configuration of a heterogeneous logistics robot integrated operating system according to an embodiment of the present invention is schematically shown.

[0053] Figure 2 A heterogeneous logistics robot integrated operating system implemented in a vehicle manufacturing plant according to an embodiment of the present invention is shown.

[0054] Reference Figure 1 and Figure 2 , the heterogeneous logistics robot integrated operation system according to an embodiment of the present invention includes: a heterogeneous logistics robot 10, which transports logistics in a production plant and has different models; a local heterogeneous control system 100, which is configured to control the operation state of the heterogeneous logistics robot 10; and an integrated control system 200, which is configured to collect the location information of the heterogeneous logistics robot 10 and monitor whether the heterogeneous logistics robot 10 is simultaneously located in a preset traffic area A based on the location information. When the heterogeneous logistics robots 10 are simultaneously located in the traffic area A, at least one of the integrated control system 200 and the local control system 100 is configured to perform traffic control by stopping or slowing down the logistics robots, and then operate in sequence according to a predetermined priority condition.

[0055] For example, the integrated control system 200 tracks the transport routes of the logistics robots 10 based on the location information collected through the local control system 100 and / or the logistics robots 10. Then, it identifies multiple logistics robots 10 existing in overlapping routes, stops them, and performs traffic control to dispatch them in sequence according to predetermined priority conditions.

[0056] Hereinafter, a heterogeneous logistics robot integrated operating system according to an embodiment of the present invention will be described based on the assumption that the heterogeneous logistics robot 10 is integrated and operated in a vehicle manufacturing plant based on a smart factory.

[0057] like Figure 2 As shown, the heterogeneous logistics robot integrated operating system applied to a vehicle manufacturing plant according to an embodiment of the present invention is implemented through the following processes: ① installing sensors and connecting PLC 30, ② establishing communication and checking data, ③ performing virtual verification using a simulator 300, and ④ solving problems based on production operations.

[0058] Process ① involves installing sensors for detecting the status of the automated production line process and the parts warehouse, as well as equipment such as status boards and warning lights, and connecting them to the PLC 30 for operation control.

[0059] For example, the PLC 30 is installed in each production line process and can control various automation facilities required for part assembly based on the working conditions set in the PLC memory. In addition, the PLC 30 can also control the operation of various automation facilities (such as doors, elevators, etc.) installed in the transfer station (node) that the logistics robot 10 must pass through when performing logistics transportation.

[0060] Process ② involves establishing communication between the local control system 100 and the PLC 30 and checking the data transmission and reception status. In addition, the communication connection status between the local control system 100 and the heterogeneous logistics robot 10 can also be checked through the relay device 20.

[0061] Process ③ involves generating a virtual PLC signal in the simulator 300, verifying the operating status of the heterogeneous logistics robot 10 based on the production work plan, and verifying the traffic control status.

[0062] Process ④ involves checking the logistics sequence information in the integrated control system 200 to solve problems that arise when controlling tasks based on production line process operating conditions, and centrally monitoring the operating status of the logistics robot 10 to ensure safe operation.

[0063] Specifically, the integrated control system 200 according to an embodiment of the present invention centrally performs priority-based traffic control when the heterogeneous logistics robot 10 enters the traffic area A or when overlapping routes occur, and directly controls the detour (avoidance) operation by regenerating the optimal route in response to event-driven obstacles or congestion conditions.

[0064] The logistics robot 10 is a device used to transport products and parts within a vehicle manufacturing plant, including AGVs (automated guided vehicles) 11 and heterogeneous AMRs (autonomous mobile robots) 12 and 13 from different manufacturers, and the logistics robot can provide various specifications (e.g., size, shape) and operating methods according to the work application.

[0065] For example, the AGV 11 can transport the car body or related parts, and the AMRs 12 and 13 can supply the parts required for the production line process or transport the completed vehicle to a designated parking area depending on their models.

[0066] The AGV 11 is generally guided along a track installed on the ground, while the AMRs 12 and 13 autonomously navigate by detecting the surrounding environment using sensors, which makes the operation method different.

[0067] In addition, the AGV 11 and the AMRs 12 and 13 from different manufacturers have different communication protocols and therefore cannot communicate with each other. Although the AMRs 12 and 13 operate in a similar manner, they may be different models from different manufacturers.

[0068] Therefore, the local control system 100 may include: a first local control system 110 configured to control the operating state of the AGV 11 according to its manufacturer (or model); a second local control system 120 configured to control the operating state of the AMR 12; and a third local control system 130 configured to control the operating state of the AMR 13. Here, for convenience, it is assumed that the local control system includes three units; but not limited to this, in practice, a vehicle manufacturing plant may operate dozens of local control systems and hundreds of logistics robots 10.

[0069] After the local control system 100 receives the departure point and destination information of the logistics transportation from the integrated control server 200, it generates a transportation route and sends the task assignment information to the corresponding logistics robot 10. The transportation route may include at least one path point (transfer node) that the logistics robot 10 must pass through from the departure point to the destination. In addition, if the scale of logistics is large, a transportation route can be generated to enable multiple logistics robots 10 to drive to the destination in a collaborative cluster. The heterogeneous logistics robots 10 including AGV 11 and AMR 12, 13 determine their current position information when moving along their respective designated routes, and send the information to the corresponding local control systems 110, 120 and 130 through the wireless relay 20. The position information may include the logistics robot ID, the current coordinates in the factory map (MAP) coordinate system, the direction of movement and the speed, including the stationary state.

[0070] For example, when the AGV 11 receives a transport route including a departure point and a destination, it moves along a lane installed on the floor and recognizes markers displayed near the lane during movement to determine its current location information.

[0071] In addition, when the AMRs 12 and 13 receive a transport route including a departure point and a destination, they may determine their current position information using a SLAM (Simultaneous Localization and Mapping) method during autonomous navigation.

[0072] In addition, each local control system 110, 120 and 130 can determine the location information of the corresponding logistics robot 10 based on manufacturer-specific methods, such as identifying tag IDs assigned to nodes or sections along the transportation route, or using indoor positioning methods through communication devices such as repeaters 20.

[0073] Each local control system 110 , 120 , and 130 transmits the position information obtained from the corresponding logistics robot 10 to the higher-level integrated control system 200 .

[0074] The integrated control system 200 is a higher-level control system that centrally controls the operating status of the heterogeneous logistics robot 10 according to an embodiment of the present invention.

[0075] The integrated control system 200 includes a task management unit 210 , a traffic area setting unit 220 , a monitoring unit 230 , a database (DB) 240 , and a control unit 250 .

[0076] The task management unit 210 allocates tasks to the logistics robots 10 to ensure timely and accurate supply of logistics, taking into account the production work plan of the manufacturing execution system (MES) 400 and the operating status of each process production line.

[0077] In this process, the task management unit 210 selects at least one logistics robot 10 required (or suitable) for transportation according to the logistics type, and determines the departure point and destination.

[0078] The task management unit 210 can send the task allocation information and the departure point / destination information of the logistics robot 10 to the local control system 100 corresponding to the model (manufacturer). Therefore, as described above, the local control system 100 can generate a transportation route based on the departure point and destination information.

[0079] However, the transportation route is not limited to this method, and the task management unit 210 of the integrated control system 200 can also directly generate the transportation route and send it to the corresponding logistics robot 10 through the local control system 100. For example, the task management unit 210 can specify the logistics robot 10, generate task allocation information including the transportation route created based on the departure point and destination information, and send it through the corresponding local control system 100. This enables compensation of the transportation route generation when a specific local control system 100 fails, and allows centralized control of the transportation route.

[0080] In addition, the task management unit 210 can regenerate a detour (avoidance) route when the logistics robot 10 enters the traffic area A, when an obstacle / congestion occurs, or based on lane-specific congestion.

[0081] The traffic area setting unit 220 sets the traffic area A at the intersection (branch point) where the transportation routes of the logistics robot 10 overlap to achieve priority-based traffic control.

[0082] Figure 3 A priority-based route traffic control setting interface according to an embodiment of the present invention is shown.

[0083] Figure 4 The state of a heterogeneous logistics robot entering a traffic area according to an embodiment of the present invention is shown.

[0084] Reference Figure 3 and Figure 4 , the traffic area setting unit 220 displays the factory design drawing (CAD) through the traffic control setting interface 221, and sets the traffic area A in the section where the traffic occurs by using various shapes such as circles, rectangles, and polygons. Traffic area A can be set in a section specified by the user (Draw), or it can be automatically set by detecting traffic coordinates (for example, intersections) where multiple routes overlap in the design drawing. Traffic area A includes a warning section, a warning section, and a standby section, each of which has a different shape size based on the risk level centered on the traffic coordinates. The closer the shape size is to the traffic coordinates, the smaller the shape size is, and the higher the risk level is. Thus, deceleration or stop control is performed based on the section corresponding to the position information of the logistics robot 10 entering the traffic area A.

[0085] In addition, the traffic area setting unit 220 can set the priority conditions of traffic control through the traffic control setting interface 221 to sequentially dispatch the logistics robots 10 that enter the traffic area A or stop after overlapping routes.

[0086] For example, the priority conditions may include at least one of the following: the order of priority scheduling of logistics robots 10 with lower remaining battery power, the order of priority scheduling of logistics robots 10 with shorter remaining distances to the destination, the order of priority scheduling of logistics robots 10 with higher process priorities, the order of priority scheduling of logistics robots 10 with longer remaining distances to the destination, the order of priority scheduling of logistics robots 10 with higher supply priorities, the order of priority scheduling of logistics robots 10 with higher retrieval priorities, the order of higher priorities between different models (AGV / AMR), and the order of higher priorities between process units.

[0087] Here, the order based on the lower remaining power level refers to the condition that the logistics robot 10 with a relatively low remaining power level is dispatched first.

[0088] In addition, the order based on the shorter remaining distance to the destination refers to the condition that the logistics robot 10 with a relatively short remaining distance to the destination is dispatched first.

[0089] In addition, the order based on higher process priority refers to the condition that the logistics robot 10 with a relatively high priority in the production line process is scheduled first.

[0090] In addition, the order based on the longer remaining distance to the destination refers to the condition that the logistics robot 10 with a relatively long remaining distance to the destination is dispatched first.

[0091] In addition, the order based on higher supply priority refers to the condition that the logistics robot 10 with relatively urgent parts supply demand in the production line process is dispatched first.

[0092] In addition, the sorting based on higher retrieval priority means that the logistics robot 10 that requires more urgent parts retrieval or urgent retrieval of a specific model (AGV / AMR) for the next task assignment is scheduled first.

[0093] In addition, the order of higher priority between models (AGV / AMR) refers to the condition that the logistics robot 10 of a relatively high priority model is dispatched first.

[0094] In addition, the order of higher priority between process cells refers to the condition that the logistics robot 10 designed for the process cell of relatively high importance is scheduled first.

[0095] These priority conditions have a relative priority weight value (%) applied to each item, which can be variably adjusted according to the work plan in the production plant and the operating status of the logistics robot 10. Therefore, when traffic control is performed on multiple logistics robots 10 based on the priority conditions, the weight of each priority item can be adjusted according to the operating status of the production plant to ensure smooth parts supply and retrieval.

[0096] The monitoring unit 230 stores the transport routes assigned to the logistics robots 10 operating in the production plant, and monitors the traffic occurrence by collecting the ID and location information of the logistics robots 10 using the manufacturer-specific local control system 100. The monitoring unit 230 can also support communication devices suitable for different communication protocols of each manufacturer, thereby achieving mutual integration.

[0097] The database (DB) 240 stores at least one program and data required for the integrated control system 200 to integrate and operate heterogeneous logistics robots according to an embodiment of the present invention, and stores information collected and generated during the operation.

[0098] The control unit 250 controls the overall operation of each component of the heterogeneous logistics robot integrated operation according to an embodiment of the present invention.

[0099] For example, the control unit 250 may perform the functions of the respective components by referring to and executing the programs and data stored in the database 240 as a main control entity.

[0100] The control unit 250 tracks the position of the operating logistics robot 10 based on the position information collected by the monitoring unit 230 and detects when it enters the preset traffic area A.

[0101] Then, the control unit 250 checks the current position information of the logistics robots 10 that have entered the traffic area A, and controls these logistics robots to slow down or temporarily stop according to the corresponding sections of the traffic area. At this time, the control unit 250 can send a deceleration or stop command through the local control system 100 corresponding to the model of the logistics robot 10.

[0102] Subsequently, the control unit 250 can determine the priorities of multiple logistics robots 10 stopped in the traffic area A based on the priority conditions, and control the sequential operation (departure and movement) of these logistics robots. Through this process, traffic control of heterogeneous logistics robots that cannot communicate with each other in a production plant can be achieved.

[0103] Therefore, the logistics robot 10 can move along the transportation route assigned by the higher-level integrated control system 200, slow down or stop within the traffic area A according to the command received through the corresponding local control system 100, and then continue to move forward based on the departure command issued according to the priority conditions.

[0104] on the other hand, Figure 5 A state in which overlapping routes between multiple logistics robots are detected according to an embodiment of the present invention is shown.

[0105] Reference Figure 5In the transportation routes between process units 1, 2, 3, 4, 5 and 6, in addition to monitoring the traffic area A, the monitoring unit 230 according to an embodiment of the present invention can also monitor the existence of overlapping routes intersecting the logistics robot 10 based on the transportation routes and real-time location information of the logistics robot 10.

[0106] Here, traffic area A is designated for traffic control in a specific fixed section where congestion often occurs, while monitoring of overlapping routes is to predict event-driven traffic situations that may occur in non-designated sections and ensure safe control without mutual interference or collision.

[0107] Therefore, when the control unit 250 detects overlapping routes of the logistics robots 10 through the monitoring unit 230, it can stop the corresponding logistics robots 10 and issue departure commands in sequence according to predetermined priority conditions.

[0108] At this time, the control unit 250 can generate a virtual robot area at a predetermined distance from the logistics robot 10 through the monitoring unit 230 to ensure a safe distance, and control the logistics robot 10 to stop when the virtual robot area overlaps. Then, the control unit 250 can first schedule the high-priority logistics robot 10 according to the priority condition, and control the low-priority logistics robot 10 to stop for a predetermined time (e.g., 3 seconds) before allowing it to continue moving forward. The virtual robot area can be set to be centered on the logistics robot 10 with a predetermined distance (e.g., 5 meters) as the radius.

[0109] In addition, based on the monitoring results, when at least one of an obstacle, congestion, or real-time lane congestion appears in front of the logistics robot 10, the control unit 250 can regenerate and send a detour route through the task management unit 210.

[0110] The control unit 250 may be implemented as one or more processors operating under a predefined program, and the predefined program may be programmed to execute each step of the heterogeneous logistics robot integrated operation method in a production plant according to an embodiment of the present invention.

[0111] The integrated operation method of heterogeneous logistics robots in the production plant will be described in more detail in conjunction with the following drawings.

[0112] Figure 6 It is a flow chart schematically illustrating a heterogeneous logistics robot integrated operation method according to an embodiment of the present invention.

[0113] Reference Figure 6 The integrated control system 200 of the embodiment of the present invention pre-sets the traffic area A (S110) in the sections where the routes overlap, such as the intersection, and establishes priority conditions (S120) for the traffic control of the heterogeneous logistics robots 10 entering the traffic area A or the overlapping routes.

[0114] The integrated control system 200 selects a logistics robot (hereinafter referred to as a "first logistics robot") 10-1 suitable for transportation according to the logistics type through the integrated route setting unit 210, and determines the departure point and destination (S130).

[0115] The integrated control system 200 sends the ID, departure point and destination information of the first logistics robot 10-1 to the corresponding manufacturer-specific local control system 100 (S140). At this time, the local control system 100 verifies the departure point and destination information, generates the transportation route of the first logistics robot 10-1, and sends the task assignment information including the transportation route (S150). Then, the first logistics robot 10-1 starts the logistics transportation task according to the sent task assignment information (S160), and determines its position information during the movement, and sends the information to the local control system 100 (S170).

[0116] The integrated control system 200 collects the location information transmitted from the local control system 100 according to the logistics transportation task of the first logistics robot 10 - 1 through the monitoring unit 230 ( S180 ).

[0117] In this way, the integrated control system 200 collects the location information of the heterogeneous logistics robots 10 operating within the production plant and monitors their operating status by tracking their respective transportation routes based on the collected location information (S190).

[0118] The integrated control system 200 monitors and determines whether the first logistics robot 10-1 enters the traffic area A where at least one second logistics robot 10-2 exists (S200), whether there is an overlapping route with the second logistics robot 10-2 (S210), and whether an event causing congestion occurs on the transportation route (S240), thereby performing priority-based traffic control (S220).

[0119] For example, Figure 7 An example of traffic control between logistics robots in traffic area A according to an embodiment of the present invention is shown.

[0120] Reference Figure 7As shown in EX1, if in step S200, the first logistics robot 10-1 enters the traffic area A where the second logistics robot 10-2 exists (S200: Yes), the integrated control system 200 can perform traffic control to stop or slow down both the first logistics robot 10-1 and the second logistics robot 10-2, and then schedule them in sequence based on the predetermined priority conditions, with the first logistics robot 10-1 with a high priority being scheduled first, while the second logistics robot 10-2 with a low priority remains on standby (S220, S230). At this time, the local control system 100 corresponding to each of the first logistics robot 10-1 and the second logistics robot 10-2 can control them to slow down, stop, or operate.

[0121] In addition, as shown in EX2, if congestion occurs in the traffic area A due to an excessive number of logistics robots 10, or if the first logistics robot 10-1 is downgraded, the integrated control system 200 can regenerate and send a real-time detour route.

[0122] Similarly, if in step S210, it is determined that a route overlap with the second logistics robot 10-2 has occurred (S210: Yes), the integrated control system 200 can perform traffic control by stopping or slowing down both the first logistics robot 10-1 and the second logistics robot 10-2, and then scheduling one of them first in sequence based on predetermined priority conditions (S220).

[0123] In addition, the integrated control system 200 monitors whether an obstacle or congestion event occurs on the transportation route of the first logistics robot 10-1 (S240).

[0124] If the integrated control system 200 detects an obstacle or congestion event on the transportation route of the first logistics robot 10-1 (S240: Yes), the monitoring status is checked and the real-time detour route is regenerated (S250). Then, the integrated control system 200 sends the regenerated detour route to the first logistics robot 10-1 through the corresponding local control system 100 for route update to perform traffic control (S260).

[0125] For example, Figure 8 and Fig. 9 An example of traffic control of a logistics robot in response to a front obstacle event according to an embodiment of the present invention is shown.

[0126] exist Figure 8 and Fig. 9 In the figure, reference numerals TE1, TE2 and TE3 represent structures that the logistics robot must avoid.

[0127] Reference Figure 8 and Fig. 9As shown in EX3, when an obstacle (e.g., a failure) occurs in front caused by the second logistics robot 10-2, the integrated control system 200 can cancel the existing transportation route using the first lane (Lane#1) and regenerate a detour route using the second lane (Lane#2), and then send the detour route to the first logistics robot 10-1.

[0128] In addition, as shown in EX4, when congestion occurs ahead, the integrated control system 200 can regenerate a detour route using a different lane and send the detour route to the first logistics robot 10-1.

[0129] In addition, as shown in EX5, the integrated control system 200 can compare the occupancy rate of the first lane (Lane#1) in the existing transport route with the second lane (Lane#2) in the detour route, and reset the route to use the second lane (Lane#2) with a lower occupancy rate. Alternatively, the system can reset the route to use the lane with the shortest distance even if the occupancy rate is higher.

[0130] In addition, as shown in EX6, the integrated control system 200 can achieve two-way traffic by adjusting the offset distances on the left and right sides of a single lane set at the center of the channel between the structures. In this case, the AGV 11 passing through the channel section can recognize the adjusted offset based on the center of the lane and move along the left or right side of the channel. Therefore, limited space can be effectively utilized to facilitate the smooth movement of the AGV 11.

[0131] Therefore, embodiments of the present invention enable traffic control between heterogeneous logistics robots from different manufacturers that cannot communicate with each other by integrating their operations through an integrated control system implemented in a production plant without the need for additional configuration.

[0132] Furthermore, by monitoring the operating status of heterogeneous logistics robots through manufacturer-specific local control systems and identifying logistics robots that enter fixed traffic areas such as intersections or overlapping routes, priority-based traffic control can be performed, thereby ensuring smooth supply of logistics.

[0133] In addition, by detecting obstacle events or congestion on the transportation route of the logistics robot in real time and controlling the logistics robot to move quickly along a detour route to avoid such situations, the turnover rate of the logistics robot can be maximized, the additional deployment cost can be reduced, and the maximum operating efficiency can be achieved with the minimum number of logistics robots.

[0134] The embodiments of the present invention are not limited to being implemented only by the above-mentioned devices and / or methods, and the present invention can also be implemented by a program designed to implement the functions corresponding to the embodiment configuration, a recording medium storing the program, or other means. Those skilled in the art can easily implement such implementation schemes based on the description of the above-mentioned embodiments.

[0135] Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention as defined in the appended claims also belong to the scope of the present invention.

Claims

1. A heterogeneous logistics robot integrated operating system, comprising: a first logistics robot and a second logistics robot, wherein the first logistics robot is configured to transport logistics in a production plant, and the second logistics robot is configured to be a different model from the first logistics robot; A first local control system and a second local control system, wherein the first local control system is configured to control an operating state of the first logistics robot, and the second local control system is configured to control an operating state of the second logistics robot; an integrated control system configured to collect location information of the first logistics robot and the second logistics robot, and monitor whether the first logistics robot and the second logistics robot are located in a preset traffic area at the same time based on the location information; When the first logistics robot and the second logistics robot are located in the traffic area at the same time, at least one of the integrated control system and the local control system is configured to perform traffic control by stopping or slowing down the logistics robots and then operating in sequence according to predetermined priority conditions.

2. The heterogeneous logistics robot integrated operating system according to claim 1, wherein: The integrated control system is configured to perform traffic control by tracking the transportation routes of the logistics robots, identifying and stopping multiple logistics robots existing in overlapping routes, and scheduling the multiple logistics robots in sequence according to predetermined priority conditions.

3. The heterogeneous logistics robot integrated operating system according to claim 1, wherein: The local control system is configured to identify location information of heterogeneous logistics robots including automated guided vehicles (AGVs) and autonomous mobile robots (AMRs), and transmit the location information to the integrated control system.

4. The heterogeneous logistics robot integrated operating system according to claim 1, wherein: The location information includes the logistics robot ID, the current coordinates in the factory map (MAP) coordinate system, the moving direction and the speed.

5. The heterogeneous logistics robot integrated operating system according to claim 1, wherein: The integrated control system comprises: A task management unit, configured to select at least one logistics robot required for transportation based on the logistics sequence information according to the type of logistics and determine the departure point and destination; a traffic area setting unit configured to set a traffic area for priority-based traffic control at an intersection where the transport routes of the logistics robots overlap; A monitoring unit, configured to collect the location information of the logistics robot and monitor traffic occurrence through the local control system; a database (DB) configured to store at least one program and data for the integrated operation of the heterogeneous logistics robots; and The control unit is configured to check the current position information of the logistics robot that has entered the traffic area, and control the logistics robot to slow down or temporarily stop according to the section corresponding to the traffic area through the local control system.

6. The heterogeneous logistics robot integrated operating system according to claim 5, wherein: The traffic area setting unit is configured to provide a plant design drawing (CAD) through a traffic control setting interface, and set a traffic area in a section where traffic occurs by using various shapes.

7. The heterogeneous logistics robot integrated operating system according to any one of claims 1 to 6, wherein: The traffic area is set in a section specified (Draw) by the user, or automatically set by detecting traffic coordinates of overlapping routes on the design drawing.

8. The heterogeneous logistics robot integrated operating system according to claim 7, wherein: The traffic area includes a warning section, a warning section and a standby section, each section has a different shape and size based on the risk level centered on the traffic coordinates, and is configured to perform deceleration or stop control according to the section corresponding to the position information of the logistics robot.

9. The heterogeneous logistics robot integrated operating system according to claim 5, wherein: The traffic area setting unit is configured to set the priority conditions of the traffic control through a traffic control setting interface, and the priority conditions are used to sequentially schedule the logistics robots that have stopped after entering the traffic area or overlapping routes.

10. The heterogeneous logistics robot integrated operating system according to claim 1 or 9, wherein: The priority conditions include at least one of the following: the order of logistics robots with lower remaining power, the order of logistics robots with shorter remaining distances to the destination, the order of logistics robots with higher process priorities, the order of logistics robots with longer remaining distances to the destination, the order of logistics robots with higher supply priorities, the order of logistics robots with higher retrieval priorities, the order of higher priorities between different models (AGV / AMR), and the order of higher priorities between process cells (Cell).

11. The heterogeneous logistics robot integrated operating system according to claim 10, wherein: The priority condition has a relative priority weight value applied to each item, and the weight value is variably adjusted according to a work plan in the production plant and an operating state of the logistics robot.

12. The heterogeneous logistics robot integrated operating system according to claim 5, wherein: The control unit is configured to track the position of the logistics robot through the monitoring unit, detect entry into the traffic area, and send a deceleration or stop command through a local control system corresponding to the model of the logistics robot.

13. The heterogeneous logistics robot integrated operating system according to claim 12, wherein: The control unit is configured to determine the priorities of a plurality of logistics robots existing in the traffic area based on the priority condition, and control sequential scheduling or movement of the plurality of logistics robots.

14. The heterogeneous logistics robot integrated operating system according to claim 5, wherein: The control unit is configured to generate a virtual robot area at a predetermined distance from the outer edge of the logistics robot through the monitoring unit to ensure a safe distance, and control the logistics robot to stop when the virtual robot areas overlap with each other.

15. The heterogeneous logistics robot integrated operating system according to claim 5, wherein: The control unit is configured to regenerate and send a detour route through the integrated route setting unit based on monitoring when at least one of an obstacle situation, a congestion situation, or a lane-specific congestion is detected in front of the logistics robot.

16. An integrated operation method for heterogeneous logistics robots, wherein: An integrated control system operates heterogeneous logistics robots of different models, the method comprising: Setting a traffic area in a section where transport routes overlap in a production plant, and setting a priority condition for traffic control of a logistics robot that has entered the traffic area; Determine the starting point and destination of the first logistics robot for logistics transportation through the first local control system, and generate task allocation information including the transportation route to operate the first logistics robot; Collecting the location information of the first logistics robot from the first local control system and monitoring the operation status of the first logistics robot; and When monitoring detects that the first logistics robot has entered a traffic area where at least one second logistics robot exists, or when a route overlap with the second logistics robot occurs, traffic control is performed by stopping or slowing down the first logistics robot, and then operating in sequence according to predetermined priority conditions.

17. The integrated operation method of heterogeneous logistics robots according to claim 16, wherein: The execution of traffic control comprises: Determine high-priority logistics robots and low-priority logistics robots based on priority conditions, wherein the priority conditions include at least one of the following: order of logistics robots with lower remaining power, order of logistics robots with shorter remaining distances to the destination, order of logistics robots with higher process priorities, order of logistics robots with longer remaining distances to the destination, order of logistics robots with higher supply priorities, order of logistics robots with higher retrieval priorities, order of higher priorities between different models (AGV / AMR), and order of higher priorities between process cells (Cell); and Dispatch high-priority logistics robots first and keep low-priority logistics robots on standby.

18. The integrated operation method of heterogeneous logistics robots according to claim 16 or 17, wherein: The execution of traffic control comprises: When the routes of the first logistics robot and the second logistics robot overlap, the first logistics robot and the second logistics robot are decelerated and stopped by the first local control system and the second local control system; and While keeping the low-priority logistics robot on standby, the first logistics robot or the second logistics robot is first dispatched based on the priority condition.

19. The integrated operation method of heterogeneous logistics robots according to claim 16, wherein: The performing of traffic control further comprises: Detecting by monitoring whether there are obstacles or congestion incidents on the transportation route of the first logistics robot; and A detour route is regenerated through the task management unit or the first local control system and the detour route is sent to the first logistics robot.

20. The integrated operation method of heterogeneous logistics robots according to claim 19, wherein: The regenerating the detour route comprises at least one of the following: Cancel the existing transport route using the first lane (Lane #1) where the incident occurred and regenerate a detour using the second lane (Lane #2); and The occupancy rates of the first lane (Lane#1) in the existing transport route and the second lane (Lane#2) in the detour route are compared, and the route is re-set to use the second lane (Lane#2) with a lower occupancy rate.

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