Method and system for controlling logistics robot

Abstract

A method and system for controlling a logistics robot are presented, comprising the steps of: setting one or more path pairs connecting at least one starting point and a destination; determining at least one candidate path pair related to the task of the logistics robot in the set one or more path pairs based on the information related to the cargo production; and performing transportation control of the logistics robot based on the determined at least one candidate path pair.

Description

Technical Field

[0001] This invention relates to a control method and system for logistics robots, which enables efficient execution of processes in factories using logistics robots. Background Technology

[0002] Recently, logistics robots have been introduced not only in general logistics warehouses and factories, but also in operational fields that use various components to manufacture products with different specifications, in order to flexibly and efficiently supply and transport parts.

[0003] Logistics robots are a general term that includes automated mobile robots (AMRs) and automated guided vehicles (AGVs), which can move and operate under the control of a control system.

[0004] In the operational areas where logistics robots and control systems are applied, each process can be executed according to the logistics flow. However, it is difficult to directly control the logistics flow and it is impossible to flexibly respond to changes in the status of each process, thus affecting the overall process rate or product output.

[0005] Therefore, it is necessary to propose a method for setting up logistics processes based on process data and executing the processes in the operation area according to the set logistics processes.

[0006] The above description, provided as background technology, is only intended to enhance the understanding of the background of this disclosure and should not be construed as an admission that it corresponds to prior art known to those skilled in the art. Summary of the Invention

[0007] Technical issues

[0008] The present invention is proposed to solve the above problems, and aims to provide a method and system for controlling logistics robots, which can efficiently execute processes according to a set logistics flow.

[0009] The technical objectives to be achieved by this disclosure are not limited to those described above, and other technical objectives not mentioned will be clearly understood by those skilled in the art from the following description.

[0010] Technical solution

[0011] To achieve the above objectives, the method for controlling a logistics robot according to the present invention includes: setting one or more path pairs connecting at least one starting point and at least one destination; determining at least one candidate path pair related to the task of the logistics robot from the set one or more path pairs based on information related to product production; and performing transportation control of the logistics robot based on the determined at least one candidate path pair.

[0012] Furthermore, in order to achieve the above objectives, the system for controlling a logistics robot according to the present invention includes: a path management device configured to: set one or more path pairs connecting at least one starting point and at least one destination, and determine at least one candidate path pair related to the task of the logistics robot from the set one or more path pairs based on information related to product production; and at least one control device configured to: perform transportation control of the logistics robot based on the at least one candidate path pair determined by the path management device.

[0013] Beneficial effects

[0014] According to the control method and system for logistics robots of the present invention, when a problem occurs in a specific part of the logistics process, the logistics process is modified so that the process is executed normally according to the modified logistics process, thereby enabling effective management of the entire process.

[0015] Furthermore, when executing processes according to the logistics flow, various situations can be handled flexibly, thereby increasing production output based on the cycle time of the entire process.

[0016] The effects that can be obtained from this disclosure are not limited to those described above, and other effects not explicitly mentioned can be clearly understood by those skilled in the art from the following description. Attached Figure Description

[0017] Figure 1 This is a block diagram illustrating an example of the configuration of an operating area that can be applied to embodiments of this disclosure.

[0018] Figure 2 This is a block diagram illustrating an example configuration of a control device applicable to embodiments of this disclosure.

[0019] Figure 3 This is a block diagram illustrating an example configuration of a logistics robot applicable to embodiments of this disclosure.

[0020] Figure 4 This is a perspective view showing an example of the appearance of a logistics robot that can be applied to embodiments of this disclosure.

[0021] Figure 5 This is a flowchart illustrating an example of the movement process of a logistics robot applicable to embodiments of this disclosure.

[0022] Figure 6 This is a block diagram illustrating the configuration of a system for controlling a logistics robot according to an embodiment of the present disclosure.

[0023] Figure 7 This is a diagram illustrating path pairs according to embodiments of the present disclosure.

[0024] Figure 8 and Figure 9 This is a diagram illustrating the changes in path pairs according to embodiments of the present disclosure.

[0025] Figure 10 This is a diagram illustrating a method for controlling a logistics robot according to an embodiment of the present disclosure. Detailed Implementation

[0026] In the description of the embodiments disclosed in this specification, detailed descriptions of well-known technologies related to this disclosure are omitted if they obscure the subject matter of the embodiments described herein. Furthermore, the accompanying drawings are provided only to facilitate understanding of the embodiments disclosed in this specification, and the technical spirit disclosed in the specification is not limited to the drawings; all variations, equivalents, and substitutions should be understood as being included within the spirit and scope of this disclosure.

[0027] Ordinal terms such as "first" and "second" may be used to describe various components, but these components should not be construed as being limited to these terms. These terms are only used to distinguish one component from another.

[0028] It should be understood that when a component is referred to as "connected to" or "coupled to" another component, it may be directly connected to or directly coupled to the other component, or connected to or coupled to the other component, but another component may be involved in between. On the other hand, it should be understood that when a component is referred to as "directly connected to" or "directly coupled to" another component, it is connected to or coupled to the other component without any other component in between.

[0029] Unless the context clearly indicates otherwise, the singular form is intended to include the plural form.

[0030] It should also be understood that terms used in this specification, such as “comprising” or “having”, specify the presence of the said features, steps, operations, components, parts or combinations thereof, but do not exclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0031] In the following description, the embodiments disclosed herein will be described in detail with reference to the accompanying drawings, and the same or similar components will be indicated by the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted.

[0032] Furthermore, the term "unit" or "control unit" included in the names of internal components of intelligent logistics vehicles or control devices is merely a broad term used to refer to controllers that control specific functions, and does not indicate a general-purpose functional unit. For example, each controller may include: a modem / transceiver for communicating with other controllers or sensors to perform control of the corresponding function; memory for storing the operating system, logic instructions, and input / output information; and one or more processors configured to perform the determination, calculation, and decision-making necessary for controlling the corresponding function. Depending on the implementation, a single processor may perform calculations for multiple controllers.

[0033] First, refer to Figure 1 Describes the configuration of the operating area in which intelligent logistics vehicles are deployed and operated, according to an implementation method.

[0034] Figure 1 This is a block diagram illustrating an example of the configuration of the operating area that can be applied to an implementation method.

[0035] See Figure 1 The operating area (100) may include a logistics robot (110), a production device (120), a monitoring device (130), and a control device (140).

[0036] Depending on the product's production process and target productivity, the operating area (100) may be equipped with multiple logistics robots (110), multiple production devices (120), and multiple monitoring devices (130). Furthermore, the operating area (100) can be implemented as a smart factory, but is not limited to this. Each component will be described below.

[0037] First, the logistics robot (110) may include an automated mobile robot (hereinafter referred to as "AMR") and an automated guided vehicle (hereinafter referred to as "AGV"). Depending on the operation strategy of the logistics robot (110) in the operation area (100), only one type of AGV and AMR may be operated, or both AGV and AMR may be operated together in a single operation area (100).

[0038] AGVs typically perform required operations (such as movement, direction change, and stopping) within an operating area (100) by recognizing and following guide facilities set on the floor for guiding the AGV. Here, guide facilities may include optically identifiable markers (dots, 2D codes, etc.), tags that can be identified non-contactly at close range (e.g., NFC tags, RFID tags, etc.), magnetic strips, wires, etc., but these are merely examples and not intended to be limiting. Guide facilities may be arranged continuously on the floor or discontinuously, spaced apart from each other. Since AGVs primarily perform operations by recognizing and following guide facilities, the guide facilities need to be installed in advance before operation. Therefore, when it is necessary to move the AGV to a new path or modify an existing path, the installation or modification of the guide facilities must be physically performed. Furthermore, since AGVs do not deviate from the path set by the guide facilities, AGVs typically stop when an obstacle is detected on or near the path until the detected obstacle disappears or individual control is provided. During the operation of the AGV, since the control device (140) must control the AGV based on the guidance facility, the control device (140) can send commands to the AGV, such as "progress until the third mark is detected" or "when the third mark is detected, turn the forward direction 90 degrees", as a single command unit or a task unit including multiple commands (e.g., collect, supply, charge, patrol, etc.).

[0039] An AMR can determine its current position (i.e., localization) by sensing its surrounding environment, and by using localization and a map, it can perform its own path planning, which is a key difference from an AGV. Therefore, when a coordinate-compatible map is shared between the AMR and the control unit (140), the control unit (140) can control the AMR by instructing it on a coordinate-based path. Furthermore, when an obstacle is detected during travel, the AMR can independently set an avoidance path to bypass the obstacle and then return to its original path. The function of the control unit (140) in setting one or more intermediate coordinates for the AMR's path can be referred to as global path planning, and the function of the AMR in setting a travel path or avoidance path between intermediate coordinates according to the global path planning can be referred to as local path planning.

[0040] refer to Figure 3 and Figure 4 A more detailed configuration of the logistics robot (110) is described, and references are provided. Figure 5 Describe the travel control process of the AMR.

[0041] Next, the production device (120) may refer to a device (e.g., a robotic arm, conveyor belt, etc.) that performs the production process of a product within the operating area (100), and more broadly, may refer to a device deployed to assist the logistics robot (110) in performing tasks (such as storage and retrieval) when the production process is performed by a human. The device deployed to assist in performing tasks may include, but is not limited to, devices for detecting the state of a designated location where the logistics robot (110) can place or pick up a pallet in the area where a particular production process is performed, devices for determining the progress of the process, and devices for restricting access to the area.

[0042] For example, the production unit (120) can be controlled by a programmable logic controller (PLC) and can communicate with the control unit (140) regarding the progress of the process.

[0043] The monitoring device (130) can perform the function of acquiring information to assess the situation within the operating area (100) and sending that information to the control device (140). For example, the monitoring device (130) may include a camera, a proximity sensor, etc., but is not limited to these.

[0044] The control device (140) can communicate with the aforementioned components (110, 120, 130) to obtain the information required to operate the operating area (100) or to control each component. For example, the control device (140) can perform operations such as dispatching the logistics robot (110), setting its path, assigning tasks, managing the processes of each product, and managing materials.

[0045] In this implementation, the control unit (140) may include an AMR / AGV control system (ACS) and a Mobile Robot Integrated Monitoring System (MoRIMS). The AMR / AGV control system controls surrounding processing equipment based on the position of the AGV or AMR and performs task-based control of the AGV / AMR. The Mobile Robot Integrated Monitoring System integrates and monitors two or more ACSs. ​​The MoRIMS can monitor the status and paths of all logistics robots (110) within the operating area (100) and perform logistics process setting and traffic flow control based on information from each ACS. For example, when providing ACSs for intelligent logistics robots of the same manufacturer or model, the MoRIMS can perform integrated control (e.g., analyzing bottleneck levels in intersecting or overlapping areas, controlling acceleration and deceleration during travel, and regenerating avoidance paths) based on information obtained from multiple ACSs and through traffic flow distribution control between different systems to prevent collisions.

[0046] In addition, MoRIMS can also have a Manufacturing Execution System (MES) as its upper-level control entity, and the Manufacturing Execution System (MES) can then be linked to an Advanced Planning and Scheduling (APS) system.

[0047] In addition to the aforementioned components (110, 120, 130, 140) in the operating area (100), means for communication between components such as beacons, repeaters and access points (APs), chargers for charging logistics robots (110), loading spaces for storing or loading components, spaces for storing finished or semi-finished products, traffic lights, barriers and waiting spaces for idle logistics robots (110) may be appropriately arranged within the operating area (100).

[0048] See below. Figure 2 The configuration of the control device (140) applicable to embodiments of this disclosure will be described.

[0049] Figure 2 This is a block diagram illustrating an example configuration of a control device applicable to embodiments of this disclosure. Figure 2 The components shown primarily represent components relevant to embodiments of this disclosure, and in the actual implementation of the control device (140), more or fewer components may be included.

[0050] See Figure 2 The control device (140) may include a firmware management unit (141), a traffic control unit (142), a process management unit (143), a production / logistics management unit (144), an inventory management unit (145), a communication unit (146), a vehicle monitoring unit (147), and a map management unit (148).

[0051] The firmware management unit (141) can obtain the latest firmware of the logistics robot (110) through the communication unit (146) and send it to the logistics robot (110) to perform firmware updates to keep the firmware of the logistics robot (110) up-to-date.

[0052] The traffic control unit (142) controls traffic lights and barriers based on the path of the logistics robot (110), and can recalculate the path of the logistics robot (110) according to traffic conditions.

[0053] The process management unit (143) can define processes for each product and manage tasks such as process progress and execution location.

[0054] The production / logistics management unit (144) can assign logistics robots (110) based on task allocation.

[0055] The inventory management unit (145) manages the location and quantity of each material, and such information is useful for more efficient process operations, such as dispatching logistics robots (110) to destinations for pallet picking or collection before actual inspection of material assembly or consumption.

[0056] The communication unit (146) can communicate not only with internal components of the operating area (100) such as logistics robots (110), production equipment (120) and monitoring equipment (130) but also with external entities such as firmware update servers.

[0057] The vehicle monitoring unit (147) can monitor the location, path, battery status, communication status, and powertrain status of each logistics robot (110). Here, the path refers to the concept of a global path based on waypoints and a real-time local path. Furthermore, battery status can include information such as voltage, current, temperature, peak voltage and current, state of charge (SOC), and state of health (SOH). Communication status can include information about the currently active communication protocol (e.g., Wi-Fi), the connected access point (AP), the distance to the AP, and the channel in use. Additionally, powertrain status can include the load, temperature, and RPM of the drivetrain.

[0058] In addition, the vehicle monitoring unit (147) can check the tasks, operating modes, firmware versions, etc. currently assigned to each logistics robot (110).

[0059] The map management unit (148) acquires grid-type map data generated by the AMR (Automatic Mobile Controller) in the logistics robot (110) as it travels within the operating area (100), and provides tools that allow factory administrators to edit the acquired map data. By editing the map data, areas, virtual lanes, intersections, and prohibited areas that will perform one or more preset operations when the logistics robot (110) enters can be set, but these are merely examples and not limitations. In addition, the map management unit (148) can distribute the initially generated grid map obtained through the actual travel of a specific logistics robot (110) to other logistics robots (110) via the communication unit (146).

[0060] The following is for reference. Figure 3 and Figure 4 The logistics robot (110) is described.

[0061] Figure 3 This is a block diagram illustrating an example configuration of a logistics robot applicable to embodiments of this disclosure.

[0062] See Figure 3The logistics robot (110) may include a traveling unit (111), a sensing unit (112), a loading unit (113), a communication unit (114), and a control unit (115). Each of the components will be described below.

[0063] The travel unit (111) may include a drive source, wheels, suspension, etc., relating to the movement, steering, and stopping of the logistics robot (110). The drive source may be implemented using an electric motor powered by a built-in battery (not shown). The wheels may include one or more drive wheels that receive driving force from the drive source, and non-drive wheels that rotate with the vehicle body when not receiving driving force. Depending on the implementation, when multiple drive wheels are provided, the drive source may be matched to each drive wheel so that the rotation of each drive wheel can be controlled independently. In this case, steering can be achieved by causing the vehicle body to rotate in different directions by different drive wheels, without requiring a separate steering mechanism. At least some of the non-drive wheels may be configured as caster-type wheels, but this is merely illustrative and not a limitation.

[0064] The sensing unit (112) is configured to detect the surrounding environment or the operating status of the logistics robot (110), and may include at least one of a 2D laser scanner (e.g., LiDAR), a 3D vision (stereo) camera, a multi-axis gyroscope sensor, an accelerometer, a wheel encoder, and a proximity sensor.

[0065] The encoder can output information for determining how much the wheel has rotated by using light emitted from a light-emitting element (e.g., a light-emitting diode). For example, the encoder can count the number of slits arranged along the circumference of the wheel or a disk rotating with the wheel during a unit of time. The control unit (115) can perform odometer measurement, which estimates displacement by analyzing the amount of position change over time based on data acquired by the encoder and gyroscope sensors. However, the displacement estimated based on the encoder data may differ from the actual displacement due to wheel slippage or wear (e.g., changes in the effective radius of the wheel). Therefore, when performing odometer measurement, the control unit (115) can correct for noise and errors by applying a predetermined algorithm (e.g., an extended Kalman filter (EKF)) to the information collected from the wheel and gyroscope sensors, thereby outputting a result that tends to be closer to the actual value. This odometer measurement can be particularly useful when positioning using a 2D laser scanner, described later, is unavailable.

[0066] A 2D laser scanner can scan its surroundings by emitting a laser beam via a rotating mirror and detecting the reflected signal. In this case, by analyzing the intensity of the reflected signal and the time difference between emission and reception, the detection results can be output in the form of a point cloud.

[0067] A 3D vision camera can calculate the distance to an object based on the parallax between two cameras spaced apart from each other by a predetermined distance (i.e., the pixel parallax between images captured by each camera). In this case, a texture projector that projects a predetermined pattern of infrared light can be configured to enable detection even on a uniformly colored flat surface (e.g., a white wall).

[0068] Typically, 2D laser scanners are used for mapping, navigation, and object recognition, while 3D cameras can be used, in particular, for obstacle avoidance during navigation, but this is merely illustrative and not necessarily limited to this.

[0069] The loading unit (113) serves as a device for loading products to be transported and may take the form of an upper plate on the vehicle body itself, a platform arranged on the upper plate, a lifting device, a turntable rotating along a vertical axis, a forklift structure, a conveyor belt, or a combination thereof. The forklift structure may support functions similar to those of a forklift, such as telescopic and tilting functions.

[0070] The communication unit (114) can communicate with other components within the operating area (100), such as the production unit (120) and the control unit (140), support communication between the logistics robots (110), and communicate with the charger during the execution of charging tasks.

[0071] The control unit (115) serves as the entity that performs overall control of the aforementioned components (111, 112, 113, 114) and can perform functions such as managing the current task, determining the current location and destination, planning the route, and controlling the loading unit based on information obtained from the control device (140) through the communication unit (114).

[0072] Figure 4 This is a perspective view showing an example of the appearance of a logistics robot that can be applied to embodiments of this disclosure.

[0073] See Figure 4 An example of an AMR (Autonomous Mobile Robot) as a logistics robot (110) is shown. The vehicle body may have a tracked planar shape with a long axis extending along a first axis direction. One drive wheel (111-1) is arranged at the center of the vehicle body along the first axis direction and may be arranged on a first side in a second axis direction, while another drive wheel (not shown) may be arranged on a second side in the second axis direction, facing the one drive wheel (111-1). This arrangement of the drive wheels can be referred to as a "differential drive (DD)" configuration. Although in Figure 4Not shown, two or more non-drive wheels may be disposed on the lower part of the vehicle body. In this case, when two drive wheels rotate in the same direction at the same speed, the robot can move forward or backward along the first axis, and when they rotate in opposite directions at the same speed, the robot can extend along the third axis and rotate about a rotation axis passing through the center (C) of the plane of the vehicle body. Furthermore, a sensing unit (112) may be disposed on the front surface of the vehicle body, and a loading unit (113) may be disposed on the upper surface of the vehicle body. The loading unit (113) may be configured to move up and down along the third axis, and a rack or tray may be fixed to the upper surface via guide rails (113-1).

[0074] However, Figure 4 The form of AMR shown is merely illustrative, and AGVs may have similar forms to AMRs or AMRs may have different forms.

[0075] Next, see Figure 5 This describes the movement process of the logistics robot (110).

[0076] Figure 5 This is a flowchart illustrating an example of the movement process of a logistics robot (110) applicable to embodiments of this disclosure. Figure 5 For convenience, we assume that the logistics robot (110) is an AMR capable of positioning and local path setting.

[0077] See Figure 5 The AMR can first travel within the operating area (100) and acquire a grid map of measurements using LiDAR, etc. (s501).

[0078] When the AMR sends the acquired grid map to the control device (140), the map management unit (148) of the control device (140) can perform grid map editing and matching processing (S502). Here, the editing process may include setting up various regions in the aforementioned grid map and allocating costs to each grid cell. Here, cost allocation can be performed such that cells closer to obstacles or restricted areas are assigned higher costs to prevent the AMR from moving to areas near obstacles or restricted areas. This is because, when setting up a local path, the AMR selects the set of cells between waypoints with the lowest total cost as the path.

[0079] In addition, map matching processing can refer to the process of aligning coordinates between the CAD map used when designing the operating area (100), the measured grid map (LiDAR map), and the topology map obtained through editing processing.

[0080] Next, the control unit (140) can share the topology map with all AMRs in the factory via the communication unit (146) (S503).

[0081] The subsequent steps can be applied to a separate AMR process.

[0082] The AMR can determine its current location (positioning) on ​​the map by using sensor data from the sensing unit (112) and the acquired map (S504). For example, the AMR can determine its current location by comparing the surrounding terrain obtained via LiDAR with a feature point-based map.

[0083] The control unit (140) can select a specific AMR and assign a task to it, wherein the task can generally include one or more waypoints determined through global path planning. Waypoints can be defined as coordinates on a map and can include information about the direction the AMR should take at the corresponding coordinates (i.e., heading). Based on such task assignment, a destination can be set for the AMR (in S505), and the AMR can perform local path planning between waypoints based on the cost of the topology map (S506).

[0084] Once a path is determined, the AMR can begin to move (S507), and when an obstacle is detected by the sensing unit (112) during movement (Yes in S508), the AMR can perform a local path search to bypass the detected obstacle and perform an evasion maneuver (S509). In some cases, depending on the evasion maneuver or its failure, the control device (140) can update the corresponding AMR's task.

[0085] In addition, the AMR can correct its position error during travel by using the aforementioned odometer until it reaches its destination (S510).

[0086] Then, when the AMR arrives at its destination (S511), the AMR can perform task-based actions (S512). For example, the AMR can determine whether the conditions for entering a specific process area are met, collect an empty pallet at the destination, or unload the products loaded on the loading unit (113).

[0087] In embodiments of this disclosure, the objective is to efficiently execute processes by receiving information based on a defined logistics flow and providing a logistics flow corresponding to the received information.

[0088] In the following text, reference will be made to Figure 6 Describe a system for controlling a logistics robot according to an embodiment.

[0089] Figure 6This is a block diagram illustrating the configuration of a system for controlling a logistics robot according to an embodiment of the present disclosure.

[0090] refer to Figure 6 A system for controlling a logistics robot according to an embodiment of the present disclosure may include a logistics robot (110-1, 110-2), a plurality of control devices (140-1, 140-2) configured to control the respective logistics robot (110-1, 110-2), a path management device (150) configured to provide each of the plurality of control devices (140-1, 140-2) with information about path pairs connecting a starting point and a destination, and a product production management system (160).

[0091] Each of the components will be described below, but the path management device (150) will be described first.

[0092] The path management device (150) can set one or more path pairs connecting at least one starting point and at least one destination, and can determine at least one candidate path pair related to the task of the logistics robot (110) from the set one or more path pairs based on information related to product production. For this purpose, the path management device (150) may include an information collection unit (151), a path pair setting unit (152), and a path pair determination unit (153). However, this is merely illustrative, and in implementing the functions of the path management device (150), the path management device (150) may include fewer or more components than those described.

[0093] The information collection unit (151) can collect the information necessary for setting and determining the path. For example, the information collection unit (151) can collect at least one of production sequence information and process setting information. The information collection unit (151) can collect production sequence information from the product production management system (160) set to manage the production of products within the operating area (100). However, this is merely illustrative and not necessarily limited to this.

[0094] In addition, the information collection unit (151) can collect process setting information from the production device (120) or the monitoring device (130). In this case, the process setting information may refer to the initial setting information of the production device (120) or the monitoring device (130) initially set to perform the process.

[0095] The path pair setting unit (152) can set any one of at least one supply port, at least one receiving port, and at least one work unit provided for each process as the starting point and the other as the destination, so as to set one or more path pairs connecting the starting point and the destination. Specifically, the path pair setting unit (152) can set at least one starting point and at least one destination based on information collected by the information collection unit (151), and can set one or more path pairs connecting at least one starting point and at least one destination.

[0096] For example, the operating area (100) may include multiple processes, and each process may be provided with at least one supply port, at least one receiving port, or at least one work unit. The path pair setting unit (152) can set one or more path pairs connecting the starting point and the destination by setting the work unit of one of the multiple processes as the starting point and the work unit of another of the multiple processes as the destination, thereby enabling the execution of inter-process tasks. However, this is merely illustrative and not necessarily limited to this. For example, the path pair setting unit (152) can set one or more path pairs connecting the starting point and the destination by specifying the supply port of one of the multiple processes as the starting point and specifying the supply port or work unit of the process requiring the component as the destination, in order to supply the component required by the process. Furthermore, the path pair setting unit (152) can set one or more path pairs by specifying the work unit of one of the multiple processes as the starting point and specifying the receiving port of one of the multiple processes used to supply the component required by the process as the destination.

[0097] Furthermore, the route pair setting unit (152) can set one or more route pairs connecting a single origin point to one or more destinations. However, this is merely illustrative and not necessarily limited to this. For example, the route pair setting unit (152) can set one or more route pairs connecting one or more origin points to one or more destinations corresponding to those origin points, or it can set one or more route pairs connecting one or more origin points to a single destination.

[0098] Furthermore, when setting one or more path pairs connecting the origin and the destination, the path pair setting unit (152) can set one or more path pairs such that at least one waypoint exists between the origin and the destination. For example, when at least one waypoint exists between the origin and the destination, the path pair setting unit (152) can set one or more path pairs connecting the origin, at least one waypoint, and the destination.

[0099] In the following text, reference will be made to Figure 7The path pair set by the path pair setting element (152) according to an embodiment of the present disclosure is described.

[0100] Figure 7 This is a diagram illustrating path pairs according to embodiments of the present disclosure.

[0101] See Figure 7 Multiple processes (process A to process H) can be set within the operating area (100). The path pair setting unit (152) of the path management device (150) can set path pairs connecting each of the multiple processes based on the collected information. For example, the path pair setting unit (152) can set path pairs by specifying process A as the starting point, processes B to D as the waypoints, and processes E to H as the destination, thereby connecting the starting point, waypoints, and destination. However, this is merely illustrative and not necessarily limited to this. For example, the path pair setting unit (152) can set a path pair connecting the starting point and the destination by specifying process A as the starting point and processes B to D as the destination. The path pair setting unit (152) can also set a path pair connecting the starting point and the destination by specifying processes B to D as the starting point and processes E to H as the destination. That is, the path pair setting unit (152) can set a relatively long path pair that includes waypoints between the starting point and the destination point, or it can set a relatively short path pair that consists only of the starting point and the destination point without any waypoints.

[0102] See you again Figure 6 When one or more path pairs are set as described above, the path pair setting unit (152) can store the set path pairs in a separately provided memory (not shown). However, this is merely illustrative and not necessarily limited to this. For example, the memory may be provided together with the path management device (150) or the path pair setting unit (152), or the memory may be provided separately from the path management device (150).

[0103] After a path pair is set in the path pair setting unit (152), the information collection unit (151) can collect information related to product production, and the path pair determination unit (153) can receive the information collected by the information collection unit (151). The information related to product production may include process status information of the production device (120) or monitoring device (130) that changes over time. The process status information may include information about whether the light curtain set in each process is open or closed, whether the safety sensor is open or closed, and whether entry or exit is permitted at least one of the following:

[0104] Furthermore, the path pair determination unit (153) can determine at least one candidate path pair related to the task of the logistics robot (110) from one or more path pairs set by the path pair setting unit (152) based on information related to product production. For example, the path pair determination unit (153) can determine the task of the logistics robot (110) based on information related to product production. In this case, the information related to product production may refer to the process status information collected by the information collection unit (151), but this is merely illustrative and not necessarily limited to this.

[0105] Furthermore, the path pair determination unit (153) can determine the task of the logistics robot (110) by considering component supply information in addition to information related to product production. For this purpose, the information collection unit (151) can additionally collect component supply information and provide the collected component supply information to the path pair determination unit (153). The component supply information may include at least one of the following: information about the parts used in each process, information about the supply and receiving ports of the parts, and information about the processes requiring the parts, and may be information provided from the aforementioned product production management system (160). However, this is merely illustrative and not necessarily limited to this.

[0106] When a task is determined, the path pair determination unit (153) can determine at least one candidate path pair connecting the starting point and destination corresponding to the determined task from one or more path pairs set by the path pair setting unit (152).

[0107] Furthermore, the path pair determination unit (153) can provide information about at least one determined candidate path pair to each of the plurality of control devices (140-1, 140-2). That is, the path management device (150) can provide the determined at least one candidate path pair to each of the devices of different types. In this case, in order to provide information to the plurality of control devices (140-1, 140-2), the path management device (150) may also include a communication unit (not shown) capable of transmitting information. However, this is merely illustrative and not necessarily limited to this.

[0108] Multiple control units (140-1, 140-2) can perform transport control of the logistics robots (110-1, 110-2) based on at least one candidate path pair determined by the path management unit (150) and provided to each control unit. For this purpose, the multiple control units (140-1, 140-2) can each include a communication unit (146-1, 146-2) and a path control unit (149-1, 149-2). The multiple control units (140-1, 140-2) control the intelligent logistics vehicles (110-1, 110-2) performing different tasks, but perform the same functions. Therefore, for ease of description, the functions of the communication unit (146-1) and the path control unit (149-1) located in the first control unit (140-1) will be described below. The same applies to the second control unit (140-2).

[0109] The communication unit (146-1) can send information about at least one candidate path pair provided by the path management device (150) to the path control unit (149-1). Furthermore, the communication unit (146-1) can receive process status information related to at least one candidate path pair provided by the path management device (150) and send this process status information to the path control unit (149-1). Additionally, the communication unit (146-1) can communicate with the logistics robot (110-1) controlled by the first control device (140-1) and can send control information generated by the path control unit (149-1) to the logistics robot (110-1).

[0110] The path control unit (149-1) can determine a final path pair from at least one candidate path pair based on process status information received from the communication unit (146-1) related to at least one candidate path pair, and can perform transportation control of the logistics robot (110-1) based on the determined final path pair. In this case, when multiple final path pairs are determined by the path control unit (149-1), the path control unit (149-1) can determine the distance of each of the multiple final path pairs and determine the final path pair with the shortest distance. Furthermore, the path control unit (149-1) can perform transportation control of the logistics robot (110-1) based on the determined final path pair with the shortest distance. However, this is merely illustrative and not necessarily limited to this.

[0111] Simultaneously, the path control unit (149-1) can generate a global path including multiple waypoints corresponding to the determined final path pair. Furthermore, the path control unit (149-1) can perform transport control of the logistics robot (110-1) based on the generated global path, thereby allowing the logistics robot (110-1) to travel along multiple waypoints. However, this is merely illustrative and not necessarily limited to this.

[0112] After performing transport control on the logistics robot (110-1) based on the final path pair, the path control unit (149-1) can collect process status information related to the final path pair. For example, the process status information related to the final path pair could be information about whether there is a possibility of deviation from the current process while moving along the final path pair, or whether it is possible to enter the next process. That is, the path control unit (149-1) can receive process status information when the logistics robot (110-1) moves between processes along the path pair or attempts to move to the next process, and can determine based on the process status information whether the logistics robot (110-1) can start from the starting point or enter the destination along the final path pair.

[0113] When it is determined that the logistics robot (110-1) cannot depart from its origin or reach its destination, the path control unit (149-1) can change the predetermined final path pair to another path pair from at least one candidate path pair previously provided by the path management device (150). In this case, the path control unit (149-1) can change the path pair to another path pair from at least one candidate path pair that corresponds to the same task as the final path pair. Furthermore, the path control unit (149-1) can re-execute transport control of the logistics robot (110-1) based on the changed path pair. This will refer to... Figures 8 to 9 Describe it.

[0114] Figure 8 and Figure 9 This is a diagram illustrating the changes in path pairs according to embodiments of the present disclosure.

[0115] First, see Figure 8 Assume that the path management device (150) determines at least one candidate path pair, and the candidate path pairs provided to the path control unit (149-1) of the first control device (140-1) include a first path pair connecting process A, process B, and process F, and a second path pair connecting process A, process D, and process F. Further assume that the first path pair is the final path pair with the shortest distance between the first and second path pairs.

[0116] The path control unit (149-1) can determine whether transportation control of the logistics robot (110-1) can be performed based on the collected process status information related to the final path pair. If the logistics robot (110-1) must start from process A and reach process F, and it is determined based on the process status information that it cannot enter intermediate process B and therefore cannot perform transportation control of the logistics robot (110-1) along the first path pair, the path control unit (149-1) can re-perform transportation control of the logistics robot (110-1) based on a second path pair that forms a path to process F via another intermediate process. In this case, the path control unit (149-1) can determine based on the process status information whether it can enter another intermediate process D, and if it can enter process D, it can perform transportation control of the logistics robot (110-1) based on the second path pair.

[0117] As another example, see Figure 9 Assume that at least one path pair determined by the path management device (150) includes a first path pair connecting processes A, B, and E; a second path pair connecting processes A, B, and F; and a third path pair connecting processes A, B, and G. Further assume that the second path pair is the final path pair with the shortest distance among them.

[0118] The path control unit (149-1) can determine whether transportation control of the logistics robot (110-1) can be performed along the second path pair based on the collected process status information related to the final path pair. For example, when transportation control to process F along the second path pair is not possible, the path control unit (149-1) can change the path pair to another candidate path pair from among multiple candidate path pairs provided by the path management device (150).

[0119] However, this is merely illustrative and not necessarily limited to this. For example, based on the process status information collected by the path control unit (149-1), it can be determined whether transportation control of the logistics robot (110-1) along the final path pair can be performed, and when it is determined that transportation control cannot be performed, a path pair reallocation command can be sent to the path management device (150) to receive a new path pair that allows transportation control to be performed. In this case, the path management device (150) can collect information again, redetermine the path pair based on the collected information, and provide the redetermined path pair to the first control device (140-1). That is, the change of the path pair can be performed autonomously within the first control device (140-1), or when the first control device (140-1) determines that the path pair needs to be changed, the path management device (150) can change the path pair and resend it to the first control device (140-1).

[0120] under, Figure 10 It shows the use of Figure 6 The system shown controls the logistics robot, and the method for controlling the logistics robot is also shown. However, despite... Figure 6 Multiple control devices (140-1, 140-2) are shown receiving information from a single path management device (150), but for convenience, Figure 10 Assume a single control device (140) receives information from the path management device (150). However, this is merely illustrative and should be understood to apply equally to each of the multiple control devices (140-1, 140-2).

[0121] In addition, see Figure 6 The control unit (140) consists of a communication unit (146) and a path control unit (149), and functions are performed by corresponding components. However, in Figure 10 For ease of description, it is assumed that all functions performed by individual components are performed by the control device (140).

[0122] Figure 10 This is a diagram illustrating a method for controlling a logistics robot according to an embodiment of the present disclosure.

[0123] See Figure 10 The information collection unit (151) of the path management device (150) collects production sequence information (S101-1) provided by the product production management system (160), and can also collect process setting information (S101-2, S101-3) provided by the production device (120) or the monitoring device (130). In addition, the information collection unit (151) can provide the collected information to the path pair setting unit (152) (S102-1, S102-2, S102-3).

[0124] The route pair setting unit (152) of the route management device (150) can select at least one starting point and at least one destination based on information provided by the information collection unit (151), and can set one or more route pairs connecting at least one starting point and at least one destination (S103). (See above for reference.) Figure 6 A detailed description of the steps for setting the path pair (S103) is provided, and therefore its detailed description is omitted.

[0125] Subsequently, the information collection unit (151) can collect information related to product production from the production unit (120) or the monitoring unit (130) (S104-1, S104-2), and can also collect component supply information from the product production management system (160) (S104-3). In addition, the information collection unit (151) can send the collected information related to product production and component supply information to the path pair determination unit (153) (S105).

[0126] The path pair determination unit (153) of the path management device (150) can determine the task of the logistics robot (110) based on at least one of the information related to product production and component supply information, and can determine at least one candidate path pair connecting the starting point and destination corresponding to the determined task from one or more path pairs set by the path pair setting unit (152) (S106). (See above for reference.) Figure 6 A detailed description of the step (S106) for determining at least one candidate path pair is provided, and therefore its detailed description is omitted.

[0127] The path pair determination unit (153) can send information about at least one determined candidate path pair to the control device (140) (S107). According to embodiments of this disclosure, the path pair determination unit (153) is described as sending information about at least one determined candidate path pair to the control device (140), but this is merely illustrative. Alternatively, the path pair determination unit (153) can send information about at least one determined candidate path pair to a communication unit (not shown) separately provided in the path management device (150), and the communication unit can send information about at least one candidate path pair to an external device (e.g., the control device (140)).

[0128] In addition, the control device (140) can collect process status information (S108-1, S108-2) related to at least one candidate path pair provided by the path management device (150) from the production device (120) or the monitoring device (130).

[0129] The control device (140) can determine the final path pair from at least one candidate path pair provided by the path management device (150) based on the collected process status information associated with at least one candidate path pair (S109). Furthermore, the control device (140) can send a transport control command to the logistics robot (110) based on the determined final path pair (S110). Therefore, the logistics robot (110) can perform a transport operation along the final path pair based on the transport control command. (See above for reference...) Figures 6 to 9 A detailed description of steps S109 to S110 is provided, and therefore their detailed description is omitted.

[0130] Subsequently, when performing transport control on the logistics robot (110), the control device (140) can collect process status information related to the final path pair and determine whether the logistics robot (110) can depart from the origin or enter the destination based on the collected process status information. When the logistics robot (110) cannot depart from the origin or enter the destination, the control device (140) can change the predetermined final path pair to another path pair from at least one candidate path pair provided by the path management device (150) and can re-execute the transport control on the logistics robot (110).

[0131] Therefore, based on the control method and control system for the operating area according to the embodiments of this disclosure, when a problem occurs in a specific process of the logistics flow, the logistics flow can be modified so that the process is executed normally along the modified logistics flow, thereby effectively managing the entire process. Furthermore, when the process is executed along the logistics flow, various situations can be flexibly responded to, thereby increasing production output based on the cycle time of the entire process.

[0132] Although this disclosure has been shown and described with respect to specific embodiments, it will be apparent to those skilled in the art that various modifications and changes may be made to this disclosure without departing from the technical spirit of the disclosure as provided by the appended claims.

[0133] The present disclosure described above can be implemented as computer-readable code on a program recording medium. Computer-readable media include all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include hard disk drives (HDDs), solid-state drives (SSDs), silicon disk drives (SDDs), ROM, RAM, CD-ROMs, magnetic tapes, floppy disks, and optical data storage devices. Therefore, the detailed description above should not be construed as limiting in all respects and should be considered illustrative. The scope of this disclosure must be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of this disclosure are included within the scope of this disclosure.

[0134] <Description of reference numerals in the attached figures>

[0135] 100: Operating Area

[0136] 110: Logistics Robots

[0137] 120: Production unit

[0138] 130: Monitoring device

[0139] 140: Control device

[0140] 150: Path management device

[0141] 160: Product Production Management System.

Claims

1. A method for controlling a logistics robot, the method comprising: Define one or more path pairs that connect at least one origin and at least one destination; Based on information related to product production, at least one candidate path pair relevant to the logistics robot's task is determined from one or more predefined path pairs; and Based on at least one candidate path pair determined, transportation control of the logistics robot is performed.

2. The method according to claim 1, wherein, The setting includes setting any one of at least one supply port, at least one receiving port, and at least one work unit set for each process as the starting point, and setting the other of the at least one supply port, at least one receiving port, and at least one work unit as the destination, so as to set one or more path pairs connecting the starting point and the destination.

3. The method according to claim 1, wherein, When there is at least one intermediate point between the origin and the destination, the setting includes: setting one or more path pairs connecting the origin, the at least one intermediate point and the destination.

4. The method according to claim 1, wherein, The settings include: Collect at least one of production sequence information and process setting information; and Based on at least one piece of information collected, establish one or more path pairs connecting the at least one starting point and the at least one destination.

5. The method according to claim 1, wherein, The determination includes: Based on the information related to product production, the task of the logistics robot is determined; and Among the defined path pairs, at least one candidate path pair is determined that connects the starting point and the destination corresponding to the defined task.

6. The method according to claim 5, wherein, Determining the task includes: Collect component supply information; and In addition to the information related to product manufacturing, the tasks of the logistics robot are also determined by taking into account the collected component supply information.

7. The method according to claim 6, wherein, The execution includes: performing the transportation control on the logistics robot such that the component corresponding to the component supply information is transported based on the determined path pair.

8. The method according to claim 1, wherein, The execution includes: Collect process status information related to at least one candidate path pair identified; Based on the collected process status information, a final path pair is determined from the at least one candidate path pair; and Based on the determined final path pair, the transportation control of the logistics robot is performed.

9. The method according to claim 8, wherein, The execution includes: Generate a global path containing multiple waypoints corresponding to the determined final path pairs; and Based on the generated global path, the transportation control of the logistics robot is performed.

10. The method of claim 8, further comprising: After the execution, process status information related to the final path pair is collected; Based on the collected process status information, it is determined whether the logistics robot can depart from the starting point or whether it can enter the destination; and When the logistics robot is unable to depart from the starting point or the logistics robot is unable to enter the destination, the transportation control of the logistics robot is re-executed by changing the final path pair to another path pair among the at least one candidate path pair.

11. A system for controlling a logistics robot, the system comprising: A path management device is configured to: set one or more path pairs connecting at least one starting point and at least one destination, and determine at least one candidate path pair related to the task of the logistics robot from the set one or more path pairs based on information related to product production. as well as At least one control device is configured to perform transportation control of the logistics robot based on the at least one candidate path pair determined by the path management device.

12. The system according to claim 11, wherein, The path management device is configured to set any one of at least one supply port, at least one receiving port, and at least one work unit for each process as a starting point, and set the other of the at least one supply port, at least one receiving port, and at least one work unit as a destination, so as to set one or more path pairs connecting the starting point and the destination.

13. The system according to claim 11, wherein, When there is at least one intermediate point between the origin and the destination, the route management device is configured to set one or more path pairs connecting the origin, the at least one intermediate point, and the destination.

14. The system according to claim 11, wherein, The path management device is configured to: collect at least one of production sequence information and process setting information, and based on the collected at least one type of information, set one or more path pairs connecting the at least one starting point and the at least one destination.

15. The system according to claim 11, wherein, The path management device determines the task of the logistics robot based on the information related to product production, and determines at least one candidate path pair connecting the origin and destination corresponding to the determined task from the set path pairs.

16. The system according to claim 15, wherein, The path management device is configured to collect component supply information and, in addition to the information related to product production, determine the task of the logistics robot by taking into account the collected component supply information.

17. The system according to claim 16, wherein, The at least one control device is configured to perform the transport control on the logistics robot such that the component corresponding to the component supply information is transported based on the path pair determined by the path management device.

18. The system according to claim 11, wherein, The at least one control device is configured to: collect process status information related to the at least one candidate path pair determined by the path management device, determine a final path pair among the at least one candidate path pair based on the collected process status information, and perform the transportation control of the logistics robot based on the determined final path pair.

19. The system according to claim 18, wherein, The at least one control device is configured to: generate a global path containing a plurality of waypoints corresponding to the determined final path pair, and perform the transportation control of the logistics robot based on the generated global path.

20. The system according to claim 18, wherein, The at least one control device is configured to: after performing the transportation control on the logistics robot, collect process status information related to the determined final path pair; based on the collected process status information, determine whether the logistics robot can depart from the starting point or whether it can enter the destination; and when the logistics robot cannot depart from the starting point or cannot enter the destination, re-execute the transportation control on the logistics robot by changing the final path pair to another path pair among the at least one candidate path pair.

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