Smart logistics vehicle and assembly method thereof

Abstract

To provide a smart logistics vehicle and an assembly method thereof, which can reduce the time required for initial setup of a replaced sensor unit when the sensor unit is replaced. [Solution] The smart logistics vehicle according to the present invention includes a sensor unit for detecting an object, a first support unit for supporting the sensor unit, a second support unit for supporting the sensor unit above the first support unit, and a position control unit for controlling the second support unit so that initial position information of the sensor unit is maintained when the sensor unit is supported by the second support unit, and for aligning the initial position of the replaced sensor unit when the sensor unit is replaced based on the initial position information of the sensor unit.

Description

[Technical Field]

[0001] The present invention relates to a smart logistics vehicle and a control method thereof that can reduce the time required to set up a replaced sensor unit when the sensor unit is replaced. [Background technology]

[0002] Smart logistics vehicles are being introduced not only in general logistics warehouses and factories, but also in smart factories that manufacture goods with different specifications using various parts, for flexible and efficient supply and transportation of parts, etc. Smart logistics vehicles are a general term for autonomous mobile robots (AMRs), automated guided vehicles (AGVs), and unmanned forklifts, and these smart logistics vehicles can move and perform tasks under the control of a control system.

[0003] In this case, the smart logistics vehicle can estimate its own position and move based on smart factory map information generated and collected through a Lidar sensor or a camera sensor for detecting obstacles. Also, for the smooth movement of the smart logistics vehicle, it is essential to set the appropriate angle and height of the sensor to generate accurate map information.

[0004] However, when a sensor is replaced due to a malfunction, the replacement sensor must be accurately initialized to the same position as the previous sensor; if not, map information may be inconsistent, making smooth movement difficult. Furthermore, setting the initial position of the replacement sensor may take a long time depending on the complexity of the map. The matters described above as the background art are intended to enhance understanding of the background of the present invention, and should not be construed as acknowledging that they constitute prior art already known to those skilled in the art. Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide a smart logistics vehicle and an assembly method thereof that can reduce the time required for initial setup of a replaced sensor unit based on initial position information when the sensor unit is replaced. The technical problems to be solved by the present invention are not limited to the above-mentioned technical problems, and other technical problems not described above will be clearly understood by those skilled in the art from the description of the present invention. [Means for solving the problem]

[0006] To achieve the above object, a smart logistics vehicle according to one embodiment of the present invention includes a first support part that supports a sensor part for detecting an object, a second support part that supports the sensor part on top of the first support part, and a position control part that controls the second support part so that initial position information of the sensor part is maintained when the sensor part is supported on the second support part, and aligns the initial position of the replaced sensor part when the sensor part is replaced based on the initial position information of the sensor part.

[0007] For example, the sensor unit may include a 2D lidar sensor, a 3D lidar sensor, and a 3D camera sensor. For example, the rear surface and the bottom surface of the sensor unit may be supported by the second support unit.

[0008] For example, the second support part may be formed to be detachable from the position restriction part. For example, the second support part may be replaced together with the sensor part when replacing the sensor part. For example, the second support part may be formed to be detachable from the position restriction part.

[0009] For example, a plurality of position restricting units may be provided to vertically connect the first support unit and the second support unit. For example, the initial position information of the sensor unit may include at least one of tilt information between the second support unit and the sensor unit, and width information, height information, and angle information between the first support unit and the sensor unit. For example, the position restricting unit may maintain the initial position information of the sensor unit based on space map information sensed through the sensor unit.

[0010] In addition, a method for assembling a smart logistics vehicle according to an embodiment of the present invention may include, in a smart logistics vehicle including a first support part supporting a sensor part for detecting an object, a second support part supporting the sensor part above the first support part, and a position restricting part restricting the second support part, the method may include the steps of: determining a failure of the sensor part based on initial position information of the sensor part; replacing the sensor part and the second support part when the sensor part fails; and aligning the initial position of the replaced sensor part when replacing the sensor part based on the initial position information of the sensor part. For example, the sensor part may include a 2D lidar sensor, a 3D lidar sensor, and a 3D camera sensor.

[0011] For example, the second support unit may be detachably attached to the position restricting unit. For example, a plurality of position restricting units may be provided to vertically connect the first support unit and the second support unit. For example, the initial position information of the sensor unit may include at least one of an inclination between the second support unit and the sensor unit, and width, height, and angle information between the first support unit and the sensor unit. For example, the position restricting unit may maintain the initial position of the sensor unit based on space map information sensed through the sensor unit. [Effects of the Invention]

[0012] According to the various embodiments of the present invention described above, when a sensor unit is replaced, the time required for initial setup of the replaced sensor unit based on initial position information can be reduced. Furthermore, the reduced time allows for immediate startup of the smart logistics vehicle, thereby improving the availability rate. The advantages of the present invention are not limited to those described above, and other advantages not described above will be apparent to those skilled in the art from the following description. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a block diagram showing an example of the configuration of a smart factory that can be applied to an embodiment of the present invention. [Figure 2] 1 is a block diagram showing an example of the configuration of a control device that can be applied to an embodiment of the present invention. [Figure 3] FIG. 1 is a block diagram showing an example of the configuration of a smart logistics vehicle that can be applied to an embodiment of the present invention. [Figure 4] 1 is a perspective view showing an example of the appearance of a smart logistics vehicle that can be applied to an embodiment of the present invention. FIG. [Figure 5] 1 is a flowchart illustrating an example of a travel process of a smart logistics vehicle that can be applied to an embodiment of the present invention. [Figure 6] FIG. 2 is a block diagram illustrating an example of a sensing unit included in a smart logistics vehicle according to an embodiment of the present invention. [Figure 7] 1 is a configuration diagram showing an example of the configuration of a smart logistics vehicle according to an embodiment of the present invention. FIG. [Figure 8] 1 is a flowchart illustrating an example of a method for assembling a smart logistics vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings. Regardless of the drawing numbers, the same or similar components will be given the same reference numbers and redundant description thereof will be omitted.

[0015] The suffixes "module" and "section" used in the following description for components are used solely for ease of description and do not have any distinct meanings or functions. Furthermore, when describing the embodiments disclosed herein, if a detailed description of related publicly known technologies is deemed to obscure the gist of the embodiments disclosed herein, such detailed description will be omitted. Furthermore, the accompanying drawings are merely provided to facilitate understanding of the embodiments disclosed herein, and should not be construed as limiting the technical ideas disclosed herein, but should be understood to include all modifications, equivalents, and alternatives within the spirit and technical scope of the present invention.

[0016] Terms including ordinal numbers, such as "first," "second," etc., may be used to describe various components, but these components are not limited by these terms. These terms are used only to distinguish one component from another. When a component is referred to as being "coupled" or "connected" to another component, it should be understood that the component may be directly coupled or connected to the other component, and that there may be other components between them. In contrast, when a component is referred to as being "directly coupled" or "directly connected" to another component, it should be understood that there are no other components between them.

[0017] A singular expression includes a plural expression unless the context clearly indicates otherwise. In this specification, the terms "comprise" or "have" and the like are intended to specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but should be understood as not precluding the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0018] Additionally, the term "unit" or "control unit" included in the names of the internal components of smart logistics vehicles and control devices is merely a term broadly used to name a controller that controls a specific function, and does not refer to a generic function unit. For example, each controller may include a modem / transceiver that communicates with other controllers or sensors to control its assigned function, memory that stores operating systems, logic commands, input / output information, etc., and one or more processors that perform judgments, calculations, and decisions required to control its assigned function. Depending on the implementation, one processor may also be responsible for calculations for multiple controllers.

[0019] The configuration of a smart factory in which smart logistics vehicles according to an embodiment are deployed and operated will be described with reference to FIG.

[0020] 1 is a block diagram showing an example of the configuration of a smart factory applicable to an embodiment. Referring to FIG. 1, a smart factory 100 may include a smart logistics vehicle 110, a production device 120, a monitoring device 130, and a control device 140. The smart factory 100 may be equipped with a plurality of smart logistics vehicles 110, a plurality of production devices 120, and a plurality of monitoring devices 130 depending on the production process and target production speed of the product. Each component will be described below.

[0021] The smart logistics vehicles 110 may include autonomous mobile robots (hereinafter referred to as "AMRs" for convenience), automated guided vehicles (hereinafter referred to as "AGVs" for convenience), and unmanned forklifts. Depending on the operational policy of the smart logistics vehicles 110, only one type of vehicle, either AGVs or AMRs, may be operated in the smart factory 100, or both AGVs and AMRs may be operated within a single smart factory 100.

[0022] Generally, an AGV performs required operations (movement, direction change, stopping, etc.) within the smart factory 100 by recognizing and following guidance equipment arranged on the floor to guide the AGV. Here, the guidance equipment may refer to an optically recognizable marker (spot, 2D code, etc.), a tag that can be recognized contactlessly at short distances (e.g., NFC tag, RFID tag, etc.), a magnetic strip, a wire, etc., but these are merely examples and are not necessarily limited thereto.

[0023] Guidance equipment can be arranged continuously on the floor or spaced apart discontinuously. AGVs basically operate by recognizing and following guidance equipment, so the guidance equipment must be installed in advance before operation. When an AGV needs to move along a new route or modify an existing route, the guidance equipment must be physically installed or modified. Furthermore, since AGVs do not deviate from the route set by the guidance equipment, if an obstacle is detected on or near the route, they generally stop until the detected obstacle disappears or until they are separately controlled.

[0024] In operating the AGV, the control device 140 must control the AGV based on the guidance equipment, and can transmit commands such as "drive until the third marker is recognized" or "when the third marker is recognized, change heading direction 90 degrees" from the current position to the AGV in individual command units or mission units including multiple commands (e.g., collection, supply, charging, patrol, etc.).

[0025] AMRs are most distinct from AGVs in that they can determine their current location (i.e., positioning) by sensing their surroundings and can set their own path using positioning and a map. Therefore, if a map with compatible coordinates is shared between the AMR and the control device 140, the control device 140 can control the AMR by instructing the AMR on a path based on the coordinates. Furthermore, if an obstacle is detected while traveling, the AMR can automatically set an avoidance path to avoid the obstacle and then return to its original path. The function of the control device 140 to set the AMR's path to one or more via coordinates can be referred to as global path planning, and the function of the AMR to set a movement path or an avoidance path between via coordinates based on global path planning can be referred to as local path planning.

[0026] A more detailed configuration of the smart logistics vehicle 110 will be described later with reference to FIGS. 3 and 4, and a more detailed driving control process of the AMR will be described later with reference to FIG. 5.

[0027] Next, the production equipment 120 may refer to equipment (e.g., a robotic arm, a conveyor belt, etc.) that performs the production process of a product in the smart factory 100, or in a broader sense, if the production process is performed by humans, it may refer to equipment arranged to assist in the performance of a mission, such as the entry and exit of the smart logistics vehicle 110. Equipment arranged to assist in the performance of a mission may be, but is not necessarily limited to, a device that detects the status of a designated position where the smart logistics vehicle 110 can unload or collect a pallet carried by the smart logistics vehicle 110 within an area where a specific production process is performed, a device that determines the progress of the process, a means for blocking entry and exit into the area, etc.

[0028] For example, the production equipment 120 may be controlled via a programmable logic controller (PLC) and communicate with the control device 140 regarding the progress of the process. The monitoring device 130 may acquire information for determining the status within the smart factory 100 and transmit the information to the control device 140. For example, the monitoring device 130 may include, but is not limited to, a camera, a proximity sensor, etc. The control device 140 may communicate with the above-mentioned components 110, 120, and 130 to acquire information necessary for operating the smart factory 100 or control each component. For example, the control device 140 may perform dispatching, route setting, mission assignment, product-specific process management, material management, etc. of the smart logistics vehicle 110.

[0029] In implementation, the control device 140 may include a local control device (ACS: AMR / AGV Control System) that controls peripheral process equipment based on the position of the AGV / AMR and performs mission-based control of the AGV / AMR, and an integrated control device (MORIMS: Mobile Robot Integrated Monitoring System) that integrates and controls two or more local control devices. The integrated control device can monitor the status and routes of all smart logistics robots 110 in the smart factory 100, set logistics flow, and control traffic from each of the multiple local control devices. For example, if local control devices (ACS) are installed for each smart logistics robot of the same manufacturer or model, the integrated control device can perform integrated control for collision prevention, such as bottleneck level analysis in intersection / overlap areas, driving acceleration / deceleration control, and avoidance path regeneration, through heterogeneous traffic distribution control based on information obtained through the multiple local control devices (ACS).

[0030] Furthermore, the integrated control device can also have a manufacturing execution system (MES) as its upper control entity, and the manufacturing execution system (MES) can again be linked to an automated scheduler (APS: Advanced Planning & Scheduling).

[0031] In addition to the aforementioned components 110, 120, 130, and 140 of the smart factory 100, devices for intercommunication between components such as beacons, repeaters, and APs (Access Points), chargers for charging the smart logistics vehicles 110, loading spaces for storing or loading parts, spaces for storing finished products or intermediate products, traffic lights, circuit breakers, and waiting spaces for idle smart logistics vehicles 110 can of course be appropriately arranged within the smart factory 100.

[0032] The configuration of the control device 140 that can be applied to the embodiment of the present invention will be described below with reference to FIG.

[0033] 2 is a block diagram showing an example of the configuration of a control device applicable to an embodiment of the present invention. The components shown in FIG. 2 are mainly those related to the embodiment of the present invention, and an actual implementation of the control device 140 may include more or fewer components. Referring to FIG. 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.

[0034] The firmware management unit 141 can obtain the latest firmware for the smart logistics vehicle 110 via the communication unit 146, transmit it to the smart logistics vehicle 110, and update the firmware, thereby maintaining the firmware of the smart logistics vehicle 110 in the latest state. The traffic control unit 142 can control signal lights and circuit breakers based on the route of the smart logistics vehicle 110, and can also recalculate the route of the smart logistics vehicle 110 depending on traffic.

[0035] The process management unit 143 can define processes for each product and manage missions such as the process progress and progress location. The production / logistics management unit 144 can dispatch the smart logistics vehicle 110 based on the mission. The inventory management unit 145 manages the location and quantity of each material, and such information can be useful for more efficient process operation, such as departing the smart logistics vehicle 110 to the destination for pallet pickup or recovery before the actual assembly / consumption of materials is detected.

[0036] The communication unit 146 can communicate not only with internal components of the smart factory 100 such as the smart logistics vehicle 110, the production device 120, and the monitoring device 130, but also with external entities such as a firmware update server. The vehicle monitoring unit 147 can monitor the position, route, battery status, communication status, powertrain status, etc. of each smart logistics vehicle 110. Here, the route is a concept that includes a waypoint-based global route and a real-time local route. In addition, the battery status can include voltage, current, temperature, peak voltage and current values, State of Charge (SOC), State of Health (SOH), etc. The communication status can include information on the currently activated communication protocol (e.g., Wi-Fi), connected AP, distance to the AP, channel in use, etc. In addition, the powertrain status can include the load, temperature, RPM, etc. of the drivetrain.

[0037] In addition, the vehicle monitoring unit 147 can check the mission, operation mode, firmware version, etc. currently assigned to each smart logistics vehicle 110. The map management unit 148 can acquire map data in the form of a grid map acquired by the AMR among the smart logistics vehicles 110 while driving inside the smart factory 100 and provide a tool that allows the factory manager to edit the acquired map data. By editing the map data, it is possible to set zones, virtual lanes, intersections, no-entry areas, etc. in which one or more predetermined operations are performed when the smart logistics vehicle 110 enters, but this is by way of example and is not necessarily limited to these. In addition, the map management unit 148 can distribute the initial grid map via the communication unit 146 to the remaining smart logistics vehicles 110 other than the smart logistics vehicle 110 that acquired the map through actual driving.

[0038] Next, a smart logistics vehicle will be described with reference to Figures 3 and 4. Figure 3 is a block diagram showing an example of the configuration of a smart logistics vehicle that can be applied to an embodiment of the present invention.

[0039] 3, the smart logistics vehicle 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 component will be described below.

[0040] The traveling unit 111 may include a drive source, wheels, suspension, etc. involved in the movement, steering, and stopping of the smart logistics vehicle 110. The drive source may be an electric motor supplied with power from a built-in battery (not shown). The wheels may include one or more drive wheels supplied with drive force from the drive source, and non-drive wheels that rotate due to the movement of the vehicle body without receiving drive force. Depending on the implementation, if multiple drive wheels are provided, a drive source may be matched to each drive wheel, and the rotation of each drive wheel may be controlled independently.

[0041] In this case, by making the rotation directions of the different drive wheels different from each other, the vehicle body can be rotated and steered without a separate steering means. At least some of the non-drive wheels can be configured as caster-type wheels, but this is merely an example and is not necessarily limited to this.

[0042] The sensing unit 112 is used to sense the surrounding environment of the smart logistics vehicle 100 and its own operating status, and may include at least one of a 2D and 3D laser scanner (e.g., LiDAR), a 3D vision (stereo) camera, a multi-axis gyro sensor, an acceleration sensor, a wheel encoder, and a proximity sensor.

[0043] The encoder can output information that can determine how much a wheel has rotated using light emitted from a light-emitting element (e.g., a photodiode). For example, the encoder can count the number of slits arranged circumferentially on a wheel or a disk that rotates with the wheel during a unit time. The control unit 115 can perform odometry, which estimates displacement by analyzing the amount of position change over time using data acquired through the encoder and gyro sensor. However, there may be an error between the displacement estimated based on the encoder data and the actual displacement due to wheel slippage or wear (changes in wheel radius).

[0044] Therefore, when performing odometry, the control unit 115 uses information collected from the wheel and gyro sensors to calculate the vehicle speed using a predetermined algorithm (e.g., EKF: Extended Kinematic Function). Kalman By correcting for noise and errors using a filter, it is possible to output results that tend to be closer to the actual value. This type of odometry can be particularly useful when localization using a 2D laser scanner, which will be described later, is not possible.

[0045] A 2D laser scanner can scan the surrounding environment by emitting a laser beam through a rotating reflector and detecting the reflected signal. In this case, it can output the detection results of the point cloud shape by analyzing the strength of the reflected signal and the time difference between the emission and reception. The 3D vision camera can calculate the distance to an object based on the parallax between two cameras spaced a certain distance apart, i.e., the pixel distance between the images captured by each camera. In this case, a texture projector may be provided that projects a predetermined pattern of infrared light so that it can be sensed even on a flat surface of the same color (e.g., a white wall).

[0046] Generally, 2D laser scanners are used for mapping, navigation, object recognition, etc., while 3D cameras can be utilized during navigation, particularly for obstacle avoidance, but this is by way of example only and not necessarily as a limitation.

[0047] The loading unit 113 is a means for loading items to be transported, and may be the upper plate of the vehicle itself or a table placed on the upper plate, a lift, a turntable that rotates along a vertical axis, a forklift, a conveyor, or a combination thereof. In the case of a forklift, it may also support telescopic and tilt functions similar to a forklift. The communication unit 114 can communicate with other components in the smart factory 100, such as the production equipment 120 and the control device 140, and can also support communication between smart logistics vehicles 110. It can also communicate with a charger when performing a charging mission.

[0048] The control unit 115 is the entity that performs overall control of the aforementioned components 111, 112, 113, and 114, and can perform current mission, current position, destination determination, route planning, loading unit control, etc. based on information obtained from the control device 140 via the communication unit 114.

[0049] FIG. 4 is a perspective view showing an example of the appearance of a smart logistics vehicle that can be applied to an embodiment of the present invention. Referring to FIG. 4, an example of an AMR is shown as a smart logistics vehicle 110. The vehicle body may have a truck-like planar shape with a major axis extending along one axial direction as a whole. One drive wheel 111-1 may be arranged at the center of the vehicle body in the one axial direction and on one side in the two axial directions, and another drive wheel (not shown) may be arranged on the other side opposite the one drive wheel 111-1 in the two axial directions. This drive wheel arrangement may be referred to as a "differential drive (DD)."

[0050] Although not shown in FIG. 4, two or more non-driven wheels may be disposed under the vehicle body. In this case, when the two driven wheels rotate in the same direction at the same speed, the vehicle can move forward or backward along one axis direction. When the two driven wheels rotate in opposite directions at the same speed, the vehicle can rotate around a rotation axis that extends along a third axis direction and passes through the center (C) of the vehicle body. In addition, a sensor unit 112 may be disposed on the front of the vehicle body, and a loading unit 113 may be disposed on the top. The loading unit 113 may be configured to be able to move up and down along the three axis directions, and a rack or tray may be fixed to the top surface via a guide 113-1.

[0051] However, the AMR configuration shown in FIG. 4 is merely an example, and the AGV may have a similar configuration, or the AMR may have a different configuration.

[0052] Next, a travel process of the smart logistics vehicle 110 will be described with reference to Fig. 5. Fig. 5 is a flowchart illustrating an example of a travel process of the smart logistics vehicle 110 that can be applied to an embodiment of the present invention. In Fig. 5, for convenience, it is assumed that the smart logistics vehicle 110 is an AMR capable of positioning and local route planning. Referring to Fig. 5, first, the AMR can acquire a measured grid map via a LiDAR or the like while traveling inside the smart factory 100 (S501).

[0053] When the AMR transmits the acquired grid map to the control device 140, a grid map editing and matching process can be performed in the map management unit 148 of the control device 140 (S502). Here, the editing process can include a process of setting the various zones in the grid map and a process of assigning costs to each grid. Here, the cost assignment can be performed in a direction in which a higher cost is assigned the closer the AMR is to an obstacle or a no-entry area so that the AMR does not move around an obstacle or an area where it should not enter. This is because the AMR selects the set of cells with the lowest cost between waypoints as the route when setting a local route.

[0054] The map matching process may refer to a process of matching coordinates between the CAD map used in the design of the smart factory 100, the measured grid map (lidar map), and the topology map that has undergone the editing process. Then, the control device 140 can share the topology map with all AMRs in the factory via the communication unit 146 (S503).

[0055] The following steps may be applied to an individual AMR. The AMR may determine its current location on a map using sensor data from the sensing unit 112 and the acquired map (S504). For example, the AMR may determine its current location by comparing the surrounding terrain acquired through LIDAR with the map based on feature points.

[0056] The control device 140 can select a specific AMR and assign it a mission, which can typically be assigned one or more waypoints determined through global path planning. A waypoint can be defined as a coordinate on a map and can be accompanied by information regarding the direction (i.e., heading) in which the AMR should head at that coordinate. In response to this assignment, a destination can be set for the AMR (Yes in S505), and the AMR can perform local path planning between the waypoints based on costs in the topology map (S506).

[0057] Once the route is determined, the AMR starts traveling (S507), and if an obstacle is detected via the sensing unit 112 while traveling (Yes in S508), the AMR can perform a local route search to bypass the detected obstacle and initiate avoidance activation (S509). Depending on the circumstances, the control device 140 can also update the mission of the AMR in response to the avoidance activation or the failure of the avoidance activation. The AMR can also correct for position errors during travel via the aforementioned odometry techniques while traveling until it reaches its destination (S510).

[0058] Thereafter, when the AMR reaches the destination (S511), it can perform activation based on the mission (S512). For example, the AMR can determine whether the conditions for entering a specific process area are met, retrieve an empty pallet from the destination, or drop off the load on the loading section 113.

[0059] In one embodiment of the present invention, a smart logistics vehicle 110 is proposed that can reduce the time required to set the initial position by simply replacing the sensor unit based on the initial position information regulated through mechanical setting when the sensor unit fails.

[0060] A smart logistics vehicle according to an embodiment will be described below with reference to Fig. 6 and Fig. 7. Fig. 6 is a block diagram showing an example of a sensing unit 112 constituting a smart logistics vehicle 110 according to an embodiment of the present invention. Fig. 7 is a configuration diagram showing an example of the configuration of a smart logistics vehicle 110 according to an embodiment of the present invention.

[0061] 6, more specifically, the sensing unit 112 may include a sensor unit 201, a first support unit 202, a second support unit 203, and a position restriction unit 204. First, the first support unit 202 may support the sensor unit 201 for sensing an object. The sensor unit 201 is not limited to the above-described examples of the sensing unit 112, such as a 2D and 3D laser scanner (e.g., LiDAR), a 3D vision (stereo) camera, a multi-axis gyro sensor, an acceleration sensor, a wheel encoder, and a proximity sensor, but may also include devices that require guarantee of initial setting information.

[0062] 7, the first support unit 202 is an AMR main body and can support the rear and bottom surfaces of the second support unit 203 and the position restriction unit 204, which will be described later. In addition, the bottom surface of the first support unit 202 may be formed in a flat structure to facilitate measurement of height information and angle information relative to the sensor unit 201, and the rear surface may be formed in a perpendicular structure to the sensor unit 201 to facilitate measurement of width information.

[0063] In addition, the second support part 203 can support the sensor part 201 above the first support part 202. Referring to Fig. 7, the rear and bottom surfaces of the sensor part 201 can be supported by the second support part 203, similar to the first support part 202. The second support part 203 can be restricted between the first support part 202 and the sensor part 201 by a position restricting part 204, which will be described later. The second support part 203 is a jig that can fix the sensor part 201 in an accurate position, and by simply replacing the first support part 202 with the second support part 203, it is possible to immediately operate the sensor part 201 based on the initial position information of the sensor part 201 without setting any additional parameters.

[0064] Specifically, when the sensor unit 201 is replaced, the initial position of the replaced sensor unit 201 may be aligned by the position restricting unit 204. Here, the position restricting unit 204 may restrict the second support unit 203 so that the initial position information of the sensor unit 201 is maintained in a state in which the sensor unit 201 is supported by the second support unit 203. At this time, the position restricting unit 204 may maintain the initial position information based on the space map information sensed through the sensor unit 201, and when the sensor unit 201 is replaced, may align the initial position of the sensor unit 201 so that the initial position information is not changed based on the space map information sensed in advance.

[0065] The initial position alignment method of the position restriction unit 204 may be performed based on the initial position information of the sensor unit 201 before replacement. Here, the initial position information of the sensor unit 201 may include at least one of tilt information, height information, and angle information. The tilt information may be obtained based on the tilt of the sensor unit 201 relative to the second support unit 203, and the width information, height information, and angle information may be obtained based on the width, height, and angle formed between the sensor unit 201 and the first support unit 202.

[0066] Therefore, the position restricting unit 204 restricts the position of the second support unit 203 so that the initial position of the sensor unit 201 is maintained, and the sensor unit 201 is also restricted to its initial position through restricting the position of the second support unit 203. When the second support unit 203 is fixed to the sensor unit 201, the second support unit 203 is also replaced when the sensor unit 201 is replaced, and the initial position of the replaced sensor unit 201 can be quickly aligned on top of the first support unit 202. For this purpose, the second support unit 203 may be formed to be detachable from the position restricting unit 204.

[0067] Furthermore, the position restricting unit 204 can connect the first support unit 202 and the second support unit 203 in the vertical direction. Connecting the first support unit 202 and the second support unit 203 in the vertical direction by the position restricting unit 204 not only makes it easy to reconnect the sensor unit 201 and the second support unit when replacing them, but also makes it easy to obtain initial position information. Furthermore, when multiple position restricting units 204 are used, the fixing force when the first support unit 202 and the second support unit 203 are connected can be increased.

[0068] Based on the configuration of the smart logistics vehicle described above, a method for assembling the smart logistics vehicle according to the embodiment will be described with reference to FIG.

[0069] FIG. 8 is a flowchart illustrating an example of a method for assembling a smart logistics vehicle according to an embodiment of the present invention.

[0070] 8, first, the second support part 203 required for replacement in the event of a malfunction of the sensor part 201 can be obtained and stored (S801). Then, it can be determined whether the sensor part 201 is malfunctioning (S802). If the sensor part 201 malfunctions (YES in S802), the second support part 203 is replaced together with the sensor part 201 while the second support part 203 is fixed to the sensor part 201 (S803). As a result, by replacing the sensor part 201 and the second support part 203, the initial position of the replaced sensor part 201 can be quickly aligned via the position restriction part 204, and the AMR can be immediately restarted (S804).

[0071] As a result, according to the various embodiments of the present invention described above, the time required for initial setup of the replaced sensor unit based on the initial location information when the sensor unit is replaced can be reduced. Furthermore, the reduced time allows for immediate startup of the smart logistics vehicle, thereby improving the operation rate.

[0072] Meanwhile, the present invention can be realized as computer-readable code on a medium having a program recorded thereon. Computer-readable media include all types of storage devices on which data readable by a computer system is stored. Examples of computer-readable media include hard disk drives (HDDs), solid-state disks (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, and optical data storage devices. Therefore, the above detailed description should not be construed as limiting in any respect, but should be considered as illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all modifications within the scope of the present invention are encompassed within the scope of the present invention. [Explanation of symbols]

[0073] 100 Smart Factory 110 Smart logistics vehicles 111-1 Drive wheels 112 Sensing unit 113 Loading section 113-1 Guide 120 Production Equipment 130 Monitoring equipment 140 Control equipment 201 Sensor section 202 1st support part 203 Second support part 204 Position regulation section

Claims

1. a first support portion that supports a sensor portion for detecting an object; a second support portion that supports the sensor portion above the first support portion; a position restriction unit that restricts the second support unit so that initial position information of the sensor unit is maintained when the sensor unit is supported by the second support unit, and aligns the initial position of the replaced sensor unit when the sensor unit is replaced based on the initial position information of the sensor unit.

2. The smart logistics vehicle according to claim 1 , wherein the sensor unit includes a 2D lidar sensor, a 3D lidar sensor, and a 3D camera sensor.

3. The smart logistics vehicle according to claim 1 , wherein the sensor unit is supported at its rear and bottom by the second support unit.

4. The smart logistics vehicle according to claim 1 , wherein the second support portion is formed to be detachable from the position restriction portion.

5. The smart logistics vehicle according to claim 4 , wherein the second support part is replaceable together with the sensor part when the sensor part is replaced.

6. The smart logistics vehicle according to claim 1 , wherein the position restricting portion is provided in plurality and connects the first support portion and the second support portion in the vertical direction.

7. 2. The smart logistics vehicle of claim 1, wherein the initial position information of the sensor unit includes at least one of inclination information between the second support unit and the sensor unit, width information, height information, and angle information between the first support unit and the sensor unit.

8. The smart logistics vehicle according to claim 1 , wherein the position control unit maintains initial position information of the sensor unit based on space map information sensed through the sensor unit.

9. determining whether the sensor unit has failed based on initial position information of the sensor unit in a smart logistics vehicle including a sensor unit for detecting an object, a first support unit for supporting the sensor unit, a second support unit for supporting the sensor unit above the first support unit, and a position restriction unit for restricting the second support unit; replacing the sensor unit and the second support unit when the sensor unit fails; and aligning the initial positions of the replaced sensor units when replacing the sensor units based on the initial position information of the sensor units.

10. The method for assembling a smart logistics vehicle according to claim 9 , wherein the sensor unit includes a 2D lidar sensor, a 3D lidar sensor, and a 3D camera sensor.

11. The method for assembling a smart logistics vehicle according to claim 9 , wherein the second support part is formed to be detachable from the position restriction part.

12. The method for assembling a smart logistics vehicle according to claim 9, wherein the position restricting portion is provided in plurality and connects the first support portion and the second support portion in the vertical direction.

13. The initial position information of the sensor part is The method for assembling a smart logistics vehicle according to claim 9, further comprising at least one of information on the inclination formed between the second support part and the sensor part, and information on the width, height, and angle formed between the first support part and the sensor part.

14. 10. The method of claim 9, wherein the position control unit maintains an initial position of the sensor unit based on space map information sensed through the sensor unit.

15. A computer-readable recording medium having a program recorded thereon for executing the method for assembling a smart logistics vehicle according to any one of claims 9 to 14.

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