Smart logistics vehicle control method and control device

Abstract

A smart logistics vehicle control method and control device are introduced, which include the steps of: checking the mission status of a smart logistics vehicle; determining a travel route so that the smart logistics vehicle moves along the virtual lane corresponding to the confirmed mission status, based on map information in which different route selection base scores are assigned to at least some virtual lanes within an operational boundary according to the mission status, based on the route selection base score corresponding to the confirmed mission status; and transmitting route information corresponding to the determined travel route to the smart logistics vehicle.

Description

Technical Field

[0001] The present invention relates to a control method and a control device for a smart logistics vehicle that provides information on a driving route according to the execution of a mission of the smart logistics vehicle.

Background Art

[0002] In recent years, smart logistics vehicles have been introduced not only in general logistics warehouses and factories but also in operation boundaries (such as smart factories, etc.) that manufacture articles with different specifications using various parts, for flexible and efficient supply and transportation of parts and the like.

[0003] A smart logistics vehicle is a concept that collectively refers to an autonomous mobile robot (AMR) and an automated guided vehicle (AGV). Such a smart logistics vehicle can move and work based on the control of a control system.

[0004] In a certain section or area on the operation boundary, a virtual lane (Lane) where a smart logistics vehicle can move can be formed. And the control system can generate a driving route according to the execution of a mission for each smart logistics vehicle based on the virtual lane formed on the operation boundary, and transmit the generated driving route to the smart logistics vehicle. However, the virtual lane formed on the operation boundary is not divided for each mission of the smart logistics vehicle, and there is a possibility that an intersection or overlapping section of the driving route may occur when generating the driving route for the smart logistics vehicle.

[0005] Also, the smart logistics vehicle performs a mission while moving along the driving route provided by the control system. However, due to the occurrence of an intersection or overlapping section of the driving route, the smart logistics vehicle may collide and the operation of the smart logistics vehicle may be interrupted, or the smart logistics vehicle may perform avoidance driving such as reducing the driving speed to prevent a collision.

[0006] This can lead to a problem of reduced mobility for smart logistics vehicles within operational boundaries. To prevent this, measures need to be proposed to generate and provide smart logistics vehicles with routes that do not intersect or overlap with each other for each mission.

[0007] The matters described above as background technology are merely intended to facilitate understanding of the background of the present invention and should not be taken as constituting prior art already known to those with ordinary skill in the art. [Overview of the Initiative] [Problems that the invention aims to solve]

[0008] The present invention was proposed to solve the aforementioned problems, and its objective is to provide a smart logistics vehicle control method and control device that provides information on the driving paths of smart logistics vehicles in accordance with the execution of their missions, so that the driving paths of different smart logistics vehicles with different missions to be performed do not intersect or overlap.

[0009] The technical problems that this invention aims to solve are not limited to those described above, and other technical problems not mentioned above will be clearly understood by those with ordinary skill in the art to which this invention belongs from the following description. [Means for solving the problem]

[0010] A smart logistics vehicle control method according to the present invention to achieve the above objective may include the steps of: confirming the mission status of a smart logistics vehicle; determining a travel route based on map information in which different route selection base scores are assigned to at least some virtual lanes within an operational boundary according to the mission status, so that the smart logistics vehicle moves along the virtual lane corresponding to the confirmed mission status based on the route selection base score corresponding to the confirmed mission status; and transmitting route information corresponding to the determined travel route to the smart logistics vehicle.

[0011] Furthermore, the control device according to the present invention for achieving the above objectives may include: a map management unit that provides map information in which different route selection base scores are assigned to at least some virtual lanes within an operational boundary according to the mission status; and a route selection unit that checks the mission status of a smart logistics vehicle, determines a travel route based on the map information provided by the map management unit so that the smart logistics vehicle moves along the virtual lane corresponding to the confirmed mission status based on the route selection base score corresponding to the confirmed mission status, and transmits route information corresponding to the determined travel route to the smart logistics vehicle. [Effects of the Invention]

[0012] As described above, the smart logistics vehicle control method and control device of the present invention can improve the mobility of smart logistics vehicles by preventing intersections or overlaps of travel paths, by determining the travel path so that the smart logistics vehicle moves along a virtual lane corresponding to the confirmed mission situation based on a route selection base score corresponding to the confirmed mission situation.

[0013] Furthermore, by determining the travel routes of smart logistics vehicles based on their mission status, it is possible to easily understand the flow of logistics within operational boundaries.

[0014] The effects obtained by the present invention are not limited to those described above, and other effects not mentioned above will be clearly understood by those with ordinary skill in the art to which the present invention pertains from the following description. [Brief explanation of the drawing]

[0015] [Figure 1] This block diagram shows an example of an operational boundary configuration applicable to embodiments of the present invention. [Figure 2] This is a block diagram showing an example of the configuration of a control device applicable to embodiments of the present invention. [Figure 3] This is a block diagram showing an example of the configuration of a smart logistics vehicle that can be applied to embodiments of the present invention. [Figure 4] This is a perspective view showing an example of the appearance of a smart logistics vehicle applicable to embodiments of the present invention. [Figure 5] This flowchart shows an example of the driving process of a smart logistics vehicle applicable to embodiments of the present invention. [Figure 6] This diagram illustrates an operational boundary equipped with a control device according to one embodiment of the present invention. [Figure 7] This diagram illustrates the route determination of a smart logistics vehicle according to one embodiment of the present invention. [Figure 8] This diagram illustrates the route determination of a smart logistics vehicle according to one embodiment of the present invention. [Figure 9] This diagram illustrates the route determination of a smart logistics vehicle according to one embodiment of the present invention. [Figure 10] This diagram illustrates the route determination of a smart logistics vehicle according to one embodiment of the present invention. [Figure 11] This diagram illustrates a smart logistics vehicle that travels based on route information according to one embodiment of the present invention. [Figure 12] This diagram illustrates a smart logistics vehicle control method according to one embodiment of the present invention. [Modes for carrying out the invention]

[0016] In describing the embodiments disclosed in this specification, if it is determined that a detailed description of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed description thereof will be omitted. Also, the accompanying drawings are only for facilitating the understanding of the embodiments disclosed in this specification, and the technical idea disclosed in this specification is not limited by the accompanying drawings, and it should be understood to include all modifications, equivalents or alternatives included in the idea and technical scope of the present invention.

[0017] Terms including ordinal numbers such as "first", "second", etc. can be used to describe various components, but these components are not limited by these terms. The above terms are only used for the purpose of distinguishing one component from another.

[0018] When a component is referred to as being "connected" or "joined" to another component, it should be understood that it may be directly connected or joined to the other component, but there may also be another component intervening therebetween. On the other hand, when a component is referred to as being "directly connected" or "directly joined" to another component, it should be understood that there is no other component intervening therebetween.

[0019] Singular expressions include plural expressions unless the context clearly dictates otherwise.

[0020] In this specification, terms such as "comprising" or "having" are intended to specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should not be construed as precluding the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0021] The embodiments disclosed herein will now be described in detail with reference to the accompanying drawings, but identical or similar components will be given the same reference numerals, regardless of whether they are reference numerals in the drawings, and redundant descriptions thereof will be omitted.

[0022] Furthermore, the terms "Unit" or "Control Unit" included in the internal configuration names of smart logistics vehicles or control systems are merely widely used terms for naming controllers that control specific functions, and do not necessarily mean 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 the operating system, logic instructions, input / output information, etc., and one or more processors that perform judgments, calculations, and decisions necessary for controlling its assigned function. Depending on the implementation, one processor may also be responsible for calculations for multiple controllers.

[0023] First, the configuration of the operational boundary where the smart logistics vehicles according to this embodiment are deployed and operated will be described with reference to Figure 1.

[0024] Figure 1 is a block diagram showing an example of an operational boundary configuration that can be applied to the embodiment.

[0025] Referring to Figure 1, the operational boundary 100 may include smart logistics vehicles 110, production equipment 120, monitoring equipment 130, and control equipment 140.

[0026] The operational boundary 100 can be equipped with multiple smart logistics vehicles 110, multiple production equipment 120, and multiple sensing devices 130, depending on the production process and target production speed of the products. The operational boundary 100 can be realized as a smart factory, but is not necessarily limited to this. The following describes each component.

[0027] First, the smart logistics vehicle 110 may include an autonomous mobile robot (AMR) and an automated guided vehicle (AGV). Within the operational boundary 100, only one type of AGV or AMR may be operated in accordance with the operational policy for the smart logistics vehicle 110, or AGVs and AMRs may be operated together within a single operational boundary 100.

[0028] AGVs generally perform required actions (movement, direction changes, stopping, etc.) within the operational boundary 100 by recognizing and following guidance equipment placed on the floor for the purpose of guiding the AGV. Here, guidance equipment can refer to, but is not limited to, optically recognizable markers (spots, 2D codes, etc.), tags that can be recognized non-contact from a short distance (e.g., NFC tags, RFID tags, etc.), magnetic strips, wires, etc. The guidance equipment may be placed continuously on the floor or discontinuously spaced apart from each other. Since AGVs basically operate by recognizing and following guidance equipment, it is required that the guidance equipment be installed in advance before operation, and if the AGV needs to be moved along a new route or an existing route needs to be modified, the guidance equipment must be physically installed or modified. Also, since AGVs do not deviate from the route set via the guidance equipment, if an obstacle is detected on or around the route, it is common for the AGV to stop until the detected obstacle is removed or until it receives further control. In the operation of the AGV, the control device 140 must control the AGV based on the guidance equipment, so it can transmit commands to the AGV in units of individual commands or in units of missions (e.g., recovery, supply, charging, patrol, etc.) that include multiple commands, such as "drive until the third marker is recognized" and "when the third marker is recognized, switch the direction by 90 degrees".

[0029] The most significant difference between an AMR and an AGV is that the AMR can determine its current position (i.e., position) through surrounding sensing, and can perform self-path planning using positioning and a map. Therefore, if the AMR and the control unit 140 share a map with compatible coordinates, the control unit 140 can control the AMR by instructing the AMR on a coordinate-based path. Furthermore, if an obstacle is detected while traveling, the AMR can set an avoidance path on its own to avoid the obstacle and then return to the existing path. The function by which the control unit 140 sets the AMR's path using one or more way coordinates can be called global path planning, and the function by which the AMR sets a travel path or an avoidance path between the way coordinates set by global path planning can be called local path planning.

[0030] For a more detailed explanation of the smart logistics vehicle 110 configuration, please refer to Figures 3 and 4, and for the AMR driving control process, please refer to Figure 5, which will be described later.

[0031] Next, the production equipment 120 can mean equipment that carries out the production process of products within the operational boundary 100 (e.g., a robotic arm, a conveyor belt, etc.), and in a broader sense, if the production process is carried out manually, it can also mean equipment positioned to assist in the execution of missions such as the entry and exit of the smart logistics vehicle 110. Equipment positioned to assist in the execution of missions may include, but is not limited to, devices that sense the state of designated locations where pallets carried by the smart logistics vehicle 110 can be unloaded or collected within the area where a specific production process is carried out, devices that determine the progress of the process, and means for blocking entry and exit within the area.

[0032] For example, the production equipment 120 is controlled via a PLC (Programmable Logic Controller) and can communicate with the control device 140 regarding the progress of the process.

[0033] The monitoring device 130 can acquire information to determine the situation within the operational boundary 100 and transmit it to the control device 140. For example, the monitoring device 130 may include, but is not limited to, cameras or proximity sensors.

[0034] The control device 140 can communicate with the aforementioned components 110, 120, and 130 to obtain information necessary for the operation of the operational boundary 100, or to control each component. For example, the control device 140 can perform tasks such as dispatching smart logistics vehicles 110, setting routes, assigning missions, managing processes by product, and managing materials.

[0035] In implementation, the control device 140 may include a local control device (ACS: AMR / AGV Control System) that controls surrounding process equipment based on the position of the AGV / AMR and controls the mission infrastructure 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 control the status and routes of all smart logistics robots 110 within the operational boundary 100, set logistics flows, and control traffic from each of the multiple local control devices. For example, if local control devices (ACS) are provided 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 crossing / overlapping areas, acceleration / deceleration control, and avoidance route regeneration, by distributing traffic between different models, based on information acquired through multiple local control devices (ACS).

[0036] Furthermore, the integrated control system can have a Manufacturing Execution System (MES) as its higher-level control entity, and the Manufacturing Execution System (MES) can again be linked with an Advanced Planning & Scheduling (APS).

[0037] In addition to the aforementioned configurations 110, 120, 130, and 140 of the operational boundary 100, it goes without saying that devices for mutual communication between each component such as beacons, repeaters, and APs (Access Points), chargers for charging smart logistics vehicles 110, loading spaces for parts storage or loading, spaces for storing finished products or intermediate products, signal lights, circuit breakers, and waiting spaces for idle smart logistics vehicles 110 may be appropriately placed within the operational boundary 100.

[0038] The configuration of the control device 140 applicable to embodiments of the present invention will be described below with reference to Figure 2.

[0039] Figure 2 is a block diagram showing an example of the configuration of a control device applicable to embodiments of the present invention. The components shown in Figure 2 mainly represent components according to embodiments of the present invention, and the actual control device 140 may include more or fewer components.

[0040] Referring to 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.

[0041] The firmware management unit 141 can maintain the firmware of the smart logistics vehicle 110 in its latest state by obtaining the latest firmware of the smart logistics vehicle 110 via the communication unit 146 and transmitting it to the smart logistics vehicle 110 so that a firmware update can be performed.

[0042] The traffic control unit 142 controls the 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 according to the traffic.

[0043] The process control unit 143 can define processes for each product and manage missions such as process progress and current position.

[0044] The Production / Logistics Management Department 144 can dispatch smart logistics vehicles 110 based on the mission.

[0045] 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 its destination earlier than the time when the actual assembly / consumption of materials is detected for pallet pickup or retrieval.

[0046] The communication unit 146 can communicate not only with internal components of the operational boundary 100, such as the smart logistics vehicle 110, production equipment 120, and monitoring equipment 130, but also with external devices such as a firmware update server.

[0047] The vehicle monitoring unit 147 can monitor the location, route, battery status, communication status, powertrain status, etc., of individual smart logistics vehicles 110. Here, the route is a concept that includes waypoint-based global routes and real-time local routes. The battery status can include voltage, current, temperature, peak values ​​of voltage and current, charge status (SOC), endurance status (SOH), etc. The communication status can include information on the currently activated communication protocol (Wi-Fi, etc.), connected AP, distance to the AP, channel in use, etc. The powertrain status can include drivetrain load, temperature, RPM, etc.

[0048] In addition, the vehicle monitoring unit 147 can also check the mission, operating mode, firmware version, and other information currently assigned to each individual smart logistics vehicle 110.

[0049] The map management unit 148 can acquire grid map data obtained by the AMR (Autonomous Mobile Relay) of the smart logistics vehicle 110 while it is driving within the operational boundary 100, and can provide a tool that allows the factory manager to edit the acquired map data. Through editing the map data, it is possible to set up areas (zones) where one or more pre-set actions are performed when the smart logistics vehicle 110 enters, virtual lanes, intersections, no-entry areas, etc., but this is an example and is not necessarily limited to this. In addition, the map management unit 148 may distribute the initial grid map to the remaining smart logistics vehicles 100 other than the smart logistics vehicle 110 that acquired it through actual driving via the communication unit 146.

[0050] Next, we will describe smart logistics vehicles with reference to Figures 3 and 4.

[0051] Figure 3 is a block diagram showing an example of the configuration of a smart logistics vehicle that can be applied to embodiments of the present invention.

[0052] Referring to Figure 3, the smart logistics vehicle 110 can include a driving 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.

[0053] The running gear 111 may include a drive source, wheels, and suspension involved in the movement, steering, and stopping of the smart logistics vehicle 110. The drive source is an electric motor powered by a built-in battery (not shown). The wheels may include one or more drive wheels that receive power from the drive source, and non-drive wheels that rotate due to the movement of the vehicle body without receiving power. In the case of multiple drive wheels, the drive source can be matched for each drive wheel so that the rotation of each drive wheel can be controlled independently. In such a case, by making the rotation directions of different drive wheels different, the vehicle body can be rotated and steering can be performed without separate steering means. At least some of the non-drive wheels may be caster wheels, but this is illustrative and not necessarily limited to them.

[0054] The sensing unit 112 is for sensing the surrounding environment and operating status of the smart logistics vehicle 110, and may include at least one of the following: a 2D laser scanner (e.g., LiDAR), a 3D vision (stereo) camera, a multi-axis gyroscope, an accelerometer, a wheel encoder, and a proximity sensor.

[0055] The encoder can output information that allows for the determination of how much the 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 the wheel or a disk rotating with the wheel during a unit of time. The control unit 115 can perform odometry to estimate displacement by analyzing the amount of position change over time using data acquired via the encoder and gyro sensor. However, due to wheel slip or wear (changes in wheel diameter), there may be errors between the displacement estimated based on the encoder data and the actual displacement. Therefore, when performing odometry, the control unit 115 corrects for noise and errors using a predetermined algorithm (e.g., EKF: Extended Kalman Filter) on the information collected from the wheel and gyro sensor, and can output results that show a tendency close to the actual value. Such odometry may be particularly useful when localization using a 2D laser scanner, as described later, is not possible.

[0056] A 2D laser scanner can scan the surrounding environment by irradiating the surroundings with a laser through a rotating reflector and sensing the reflected signal. At this time, the intensity of the reflected signal and the time difference between irradiation and reception can be analyzed to output the result of point cloud shape detection.

[0057] A 3D vision camera can calculate the distance to an object based on the time difference between two cameras separated by a certain distance, that is, the pixel distance between images captured through each camera. In this case, a texture projector that projects infrared light in a predetermined pattern may be provided so that it can detect flat surfaces of the same color (for example, a white wall).

[0058] Generally, 2D laser scanners are used for mapping, navigation, and object recognition, while 3D cameras can be used, particularly for obstacle avoidance during navigation; however, this is illustrative and not necessarily limited to these applications.

[0059] The loading section 113 is a means for loading the items to be transported, and may be the upper plate on the vehicle body itself, or a table, lift, turntable that rotates along a vertical axis, forklift, conveyor, or a combination thereof, located on the upper plate. In the case of a forklift, it can also support telescopic and tilt functions, similar to a forklift-type material handling vehicle.

[0060] The communication unit 114 can communicate with other components within the operational boundary 100, such as the production equipment 120 and the control equipment 140, and can also support communication between smart logistics vehicles 110, and can communicate with chargers when performing charging missions.

[0061] The control unit 115 is the main unit that performs overall control of the aforementioned components 111, 112, 113, and 114, and can perform tasks such as determining the current mission, current position, destination, route planning, and load control based on information acquired from the control device 140 via the communication unit 114.

[0062] Figure 4 is a perspective view showing an example of the appearance of a smart logistics vehicle applicable to embodiments of the present invention.

[0063] Referring to Figure 4, an example of an AMR (Autonomous Mechanism of Regeneration) is shown as a smart logistics vehicle 110. The vehicle body can have a track-type planar shape with a long axis extending along a single axis. One drive wheel 111-1 can be positioned in the center of the vehicle body along a single axis and on one side along two axes, while other drive wheels (not shown) can be positioned on the other side opposite the drive wheel 111-1 along two axes. Such a drive wheel arrangement can be called a "differential drive (DD)". Although not shown in Figure 4, multiple non-drive wheels can be positioned at the bottom of the vehicle body. In such a case, if two drive wheels rotate in the same direction at the same speed, forward or reverse movement is possible along a single axis, and if they rotate in opposite directions at the same speed, they can rotate around a rotation axis that extends along three axes and passes through the center C of the vehicle body's planar shape. A sensor unit 112 may be positioned on the front of the vehicle body, and a loading unit 113 may be positioned on the top. The loading section 113 may be configured to be able to move up and down along three axes, and racks, trays, etc. may be fixed to its upper surface via guides 113-1.

[0064] However, the AMR configuration shown in Figure 4 above is illustrative, and it goes without saying that AGVs may have a similar configuration, or AMRs may have a different configuration.

[0065] Next, with reference to Figure 5, the driving process of the smart logistics vehicle 110 will be explained.

[0066] Figure 5 is a flowchart illustrating an example of the driving process of a smart logistics vehicle 110 applicable to embodiments of the present invention. For convenience, Figure 5 assumes that the smart logistics vehicle 110 is an AMR capable of positioning and local route setting.

[0067] Referring to Figure 5, first, the AMR can acquire a measured grid map via LiDAR or other means while traveling within the operational boundary 100 (S501).

[0068] When the AMR transmits the acquired grid map to the control unit 140, the map management unit 148 of the control unit 140 can perform grid map editing and matching processes (S502). Here, the editing process may include the process of setting the aforementioned various areas (zones) on the grid map and the process of assigning costs to each grid. Here, the cost assignment may be done in a direction in which the closer to an obstacle or no-entry area the cost is assigned is higher, so that the AMR does not move around obstacles or into areas where it should not enter. This is because when the AMR sets a local route, it selects the set of cells with the lowest cost between waypoints as the route.

[0069] Furthermore, the map matching process can be defined as the process of matching coordinates between the CAD map used in the design of operational boundary 100, the measured grid map (lidar map), and the topology map that has undergone the editing process.

[0070] Subsequently, the control unit 140 can share the topology map with all AMRs in the factory via the communication unit 146 (S503).

[0071] The following steps may be applicable to individual AMRs.

[0072] The AMR can determine its current location on a map (localization) via 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 acquired via LiDAR with the map based on feature points.

[0073] The control unit 140 can select a specific AMR and assign it a mission, which may be assigned one or more waypoints, generally determined via global path planning. Waypoints can be defined as coordinates on a map and may be accompanied by information about the direction (i.e., heading) the AMR should go within those coordinates. In response to such a mission assignment, a destination can be set for the AMR (Yes in S505), and the AMR can perform local path planning between waypoints based on the cost of the topology map (S506).

[0074] Once a route is determined, the AMR begins to travel (S507), and if an obstacle is detected via the sensing unit 112 during travel (Yes in S508), it can perform an evasive maneuver by searching for a local route to bypass the detected obstacle (S509). In some cases, the control unit 140 may also update the AMR's mission in response to or in response to an evasive maneuver.

[0075] Furthermore, the AMR can also correct positional errors during travel by using the aforementioned odometry technique until it reaches its destination (S510).

[0076] Subsequently, upon reaching the destination (S511), the AMR can perform a mission-based activation (S512). For example, the AMR can determine whether the conditions for entering a specific process area have been met, retrieve an empty pallet at the destination, or drop the cargo loaded in the loading unit 113.

[0077] One embodiment of the present invention aims to provide information regarding the travel routes of smart logistics vehicles in order to prevent the travel routes of different smart logistics vehicles with different missions to be performed from intersecting or overlapping.

[0078] Hereinafter, with reference to Figure 6, a control device according to an embodiment of the present invention will be described.

[0079] Figure 6 is a diagram illustrating an operational boundary equipped with a control device according to one embodiment of the present invention.

[0080] Referring to Figure 6, the control device 140 according to an embodiment of the present invention may include a map management unit 148 that provides map information in which at least a portion of the operational boundary 100 is assigned different route selection base scores according to mission status to virtual lanes, and a route selection unit 149 that checks the mission status of the smart logistics vehicle 110, determines a travel route so that the smart logistics vehicle 110 moves along the virtual lane corresponding to the confirmed mission status based on the route selection base score corresponding to the confirmed mission status based on the map information provided by the map management unit 148, and transmits route information corresponding to the determined travel route to the smart logistics vehicle 110. The control device 140 may further include a communication unit 146 that collects external information or transmits information generated within the control device 140 to the outside.

[0081] Although Figure 6 illustrates one control unit 140 and one smart logistics vehicle 110 for ease of explanation, it should be understood that this also applies when multiple smart logistics vehicles or multiple control units are provided.

[0082] The following sections will provide a detailed explanation of each component included in the control device 140.

[0083] The operational boundary 100 can form virtual lanes that can be used when the smart logistics vehicle 110 is executing a mission. The map management unit 148 can then assign route selection base scores to at least some of the multiple virtual lanes formed in the operational boundary 100. The route selection base score can represent the cost assigned to each unit section or unit cell within the operational boundary, depending on the mission status.

[0084] As described above in Figure 5, conventionally, a cost is assigned to a virtual lane, and the smart logistics vehicle 110 moves along the virtual lane with the lower cost assigned to it, rather than the high-cost virtual lane. In this case, since only the possibility of movement or direction based on the assigned cost is set for the virtual lane, if a travel path is formed based on such a virtual lane, intersections or overlapping points or sections may occur on the travel path. When the smart logistics vehicle 110 moves along such a travel path, there is a problem that collisions between smart logistics vehicles 100 may occur at intersections or overlapping points or sections, or that evasive driving must be performed to prevent collisions.

[0085] To solve these problems, the map management unit 148 according to an embodiment of the present invention can provide map information in which different route selection base scores are assigned to at least some virtual lanes within the operational boundary 100 according to the mission status. In this case, the mission status of the smart logistics vehicle 110 can include at least one of the following: information on the mission that the smart logistics vehicle 110 should perform, information on the loading status of the smart logistics vehicle 110, and type information of the smart logistics vehicle 110. The information on the mission to be performed can include at least one of the following: a supply mission, a retrieval mission, and a charging mission that the smart logistics vehicle 110 should perform. The information on the loading status of the smart logistics vehicle 110 can include at least one of the following: information on whether or not there are goods loaded in the smart logistics vehicle 110, and information on the goods loaded in the smart logistics vehicle 110. The type information of the smart logistics vehicle 110 can include information on the intended use of the smart logistics vehicle 110 (e.g., performing logistics work, performing parking work, performing cleaning work, etc.).

[0086] In other words, the map management unit 148 can provide map information that categorizes virtual lanes so that at least some of them can be used by the smart logistics vehicle 110 according to its mission status. For example, the map management unit 148 can provide map information that assigns a low route selection base score to a virtual lane in the case of a supply mission and a high route selection base score in the case of a retrieval mission, thereby ensuring that the virtual lane is used only for supply missions. For this purpose, the route selection base score may be assigned to each virtual lane as a fixed value, or it may be assigned as a value that fluctuates periodically according to the mission status.

[0087] However, this is merely an example and is not necessarily limited to this. For example, the map management unit 148 may have map information pre-configured in which at least some virtual lanes within the operational boundary 100 are assigned different route selection base scores according to mission status, and may provide pre-configured map information. Alternatively, the map management unit 148 may generate map information itself in which at least some virtual lanes within the operational boundary 100 are assigned different route selection base scores according to mission status, and provide the generated map information.

[0088] The route selection unit 149 can check the mission status of the smart logistics vehicle 110 and determine the travel route of the smart logistics vehicle 110 based on the mission status confirmed based on the map information provided by the map management unit 148.

[0089] Specifically, the route selection unit 149 can collect process information of the operational boundary 100. The process information may include at least one of the process status information and logistics request information of the operational boundary 100, and the route selection unit 149 can collect process information provided from the production equipment 120 located within the operational boundary 100. In this case, the control device 140 may also collect the process information provided by the production equipment 120 via the communication unit 146, provide the process information collected by the communication unit 146 to the route selection unit 149, and the route selection unit 149 may collect the provided process information again. However, this is an example and is not necessarily limited thereto.

[0090] Furthermore, the route selection unit 149 can determine the mission status for the smart logistics vehicle 110 based on the collected process information, and can confirm the determined mission status. For example, the route selection unit 149 can determine the mission status, such as supply missions and retrieval missions, that the smart logistics vehicle 110 should perform, based on the collected process information.

[0091] The route selection unit 149 checks the mission status and, based on the route selection base score corresponding to the mission status confirmed based on the map information provided by the map management unit 148, can determine a travel route to move along the virtual lane corresponding to the confirmed mission status. The determination of the travel route will be explained with reference to Figures 7 to 10.

[0092] Figures 7 to 10 illustrate the route determination of a smart logistics vehicle according to one embodiment of the present invention.

[0093] First, referring to Figure 7, let's assume a situation where two arbitrary process areas, process A and process B, are formed within the operational boundary 100. Furthermore, multiple virtual lanes L1 and L2 can be formed between process A and process B, connecting the two processes. The map management unit 148 can provide map information to each of the multiple virtual lanes L1 and L2, with a mission-specific route selection base score assigned to each. For example, the first virtual lane L1 may be assigned a route selection base score of 3 for supply missions, a route selection base score of 6 for retrieval missions, and a route selection base score of 5 for simple movement missions. Similarly, the second virtual lane L2 may be assigned a route selection base score of 5 for supply missions, a route selection base score of 2 for retrieval missions, and a route selection base score of 6 for simple movement missions.

[0094] Based on the collected process information, the route selection unit 149 can determine and confirm the mission status so that the smart logistics vehicle 110 performs a supply mission from process A to process B if material supply from process A to process B is required. Furthermore, based on the map information provided by the map management unit 148, the route selection unit 149 can determine the travel route so that the smart logistics vehicle 110 moves along the virtual lane corresponding to the confirmed mission status, based on the route selection base score corresponding to the confirmed mission status. For example, if the mission status is a supply mission from process A to process B, the route selection unit 149 can determine the route selection base score assigned to each of the multiple virtual lanes L1 and L2 corresponding to the supply mission based on the map information. First, the route selection base score for the supply mission assigned to the first virtual lane L1 is 3, and the route selection base score for the supply mission assigned to the second virtual lane L2 is 5. Based on the two route selection base scores, the route selection unit 149 can determine the travel route so that the smart logistics vehicle 110 moves along the first virtual lane L1 which has the lower score.

[0095] Furthermore, the route selection unit 149 can select a departure point and destination within the operational boundary 100 corresponding to the confirmed mission status, and determine a driving route connecting the selected departure point and destination based on map information.

[0096] As shown in Figure 8, multiple virtual lanes can be formed within the operational boundary 100, and the map management unit 148 can assign a route selection base score to each of the multiple virtual lanes based on the mission status, particularly supply missions and retrieval missions. For example, a virtual lane for supply purposes may mean a virtual lane that has been assigned a low route selection base score due to supply missions, and a virtual lane for retrieval purposes may mean a virtual lane that has been assigned a low route selection base score due to retrieval missions. However, this is merely an example and is not necessarily limited to this. The map management unit 148 can provide the route selection unit 149 with the map information configured in this way.

[0097] Referring to Figure 8, the route selection unit 149 can select a departure point and destination within the operational boundary 100 that correspond to the confirmed mission status. For example, if multiple processes (process A, process B, and process C) are formed within the operational boundary 100, and the confirmed mission status is a parts supply mission due to a parts request in process C, the route selection unit 149 can select one of the multiple supply ports SP1, SP2, and SP3 provided within the operational boundary 100 (for example, SP2) as the departure point and process C as the destination.

[0098] Once the departure point and destination are selected, the route selection unit 149 can determine a travel route connecting the departure point and destination, based on a route selection base score corresponding to the mission status confirmed based on map information, so as to move along a virtual lane corresponding to the confirmed mission status. For example, the route selection unit 149 can determine a travel route connecting the supply port SP2, which is the departure point, and the destination, process C, along a virtual lane for supply purposes to which a low route selection base score has been assigned for the parts supply mission for the first smart logistics vehicle 110-1 that performs the parts supply mission.

[0099] In contrast, if the confirmed mission status is a retrieval mission due to a request to retrieve empty pallets in process C, the route selection unit 149 can select process C as the departure point and select one of the multiple retrieval ports CP1, CP2, and CP3 located within the operational boundary 100 (for example, CP3) as the destination. Once the departure point and destination are selected, the route selection unit 149 can determine a travel route connecting process C, which is the departure point, and the retrieval port CP3, which is the destination, for the second smart logistics vehicle 110-2 to perform the retrieval mission, moving along a virtual lane for retrieval purposes that has been assigned a low route selection base score based on the confirmed mission status of a retrieval mission according to the map information.

[0100] Furthermore, the route selection unit 149 can determine a travel route connecting the departure point and the destination by further considering the status information of the selected departure point and destination. For example, the route selection unit 149 can determine a travel route connecting the departure point and the destination by further considering the status information of each of the multiple supply ports SP1, SP2, SP3, the status information of each of the multiple recovery ports CP1, CP2, CP3, and the status information of each of the multiple processes (process A, process B, process C).

[0101] In this way, by determining the travel route based on the mission status that the smart logistics vehicle 110 should perform, it is possible to prevent the travel routes of the first smart logistics vehicle 110-1 and the second smart logistics vehicle 110-2 from overlapping or intersecting when the first smart logistics vehicle 110-1, which performs a supply mission, and the second smart logistics vehicle 110-2, which performs a retrieval mission, are coexisting.

[0102] Furthermore, the route selection unit 149 can also determine the driving route based on map information that further reflects information regarding the activation status of at least some virtual lanes according to the mission status.

[0103] Referring to Figure 9, multiple virtual lanes can be formed around any process area (e.g., process B) within the operational boundary 100, and the map management unit 148 can assign a route selection basis score to each of the multiple virtual lanes according to the mission status, in particular supply missions and retrieval missions. In Figure 9, it is assumed that the multiple virtual lanes formed around process B in this embodiment are virtual lanes for retrieval purposes, where the route selection basis score corresponding to retrieval missions is assigned lower than the route selection basis score corresponding to supply missions.

[0104] As described above, the map management unit 148 can provide map information to at least some virtual lanes within the operational boundary 100, with different route selection base scores assigned to each mission situation. At this time, at least some virtual lanes can be set to be activated or deactivated depending on the mission situation in order to shorten the travel route or travel time. The map management unit 148 can update the existing map information so that information regarding the activation status of at least some virtual lanes depending on the mission situation is further reflected in the map information, and provide the updated map information. The route selection unit 149 can then determine the travel route for each mission situation based on the updated map information.

[0105] For example, if the initial map information provided by the map management unit 148 includes information on the activation of virtual lane L3, the route selection unit 149 can determine an initial travel route that includes the activated virtual lane L3, which moves along the virtual lane corresponding to the mission status, based on the initial map information and a route selection base score corresponding to the mission status, which is a recovery mission from process B to recovery port CP2 of the smart logistics vehicle 110. The smart logistics vehicle 110 can then travel based on the initial travel route determined by the route selection unit 149. However, in order to shorten the mission execution time, the map management unit 148 can further collect information on the activation status of other virtual lanes that are not being used while corresponding to the confirmed mission status. For example, the map management unit 148 can update the map information to further reflect information on virtual lane L4 that can be temporarily activated while corresponding to the recovery mission confirmed by the route selection unit 149, and provide the updated map information to the route selection unit 149.

[0106] The route selection unit 149 can determine a modified travel route different from the initial travel route from process B to recovery port CP2 based on map information updated with information regarding the temporary activation of virtual lane L4. The route selection unit 149 can determine a modified travel route that is shorter than the initial travel route based on map information that further reflects information regarding the activation status of at least some virtual lanes. However, as described above, the activation status of virtual lanes is set to shorten the travel route or travel time, but this is illustrative and not necessarily limited to this. For example, the activation status of virtual lanes may be set to prevent overlapping or crossing when determining the travel route, taking into account the mission situation, or it may be set according to whether travel is possible or not by determining the current state of the virtual lanes based on process information provided by the production equipment 120.

[0107] On the other hand, referring to Figure 10, if there are two adjacent virtual lanes L5 and L6 connecting process A and process B formed within the operational boundary 100, the route selection base score corresponding to the mission status for the two adjacent virtual lanes can be applied fixedly. For example, for a mission involving round-trip movement between process A and process B, the route selection unit 149 can prioritize determining a route that includes virtual lane L5, while corresponding to a mission where process A is the departure point and process B is the destination. The route selection unit 149 can also determine a route that includes virtual lane L5, while corresponding to a mission where process B is the departure point and process A is the destination. However, in this case, in order to include virtual lane L5 in the route again, there may be the inconvenience of having to change the route selection base score assigned to virtual lane L5. Therefore, if there are two adjacent virtual lanes L5 and L6 connecting two processes (process A and process B), the map management unit 148 can apply a route selection base score corresponding to the mission status for the two adjacent virtual lanes fixedly. As a result, when the route selection unit 149 determines the travel route, it can include only virtual lane L5 as the travel route when moving from process A to process B, and include only virtual lane L6 as the travel route when moving from process B to process A. In other words, the map management unit 148 can permanently assign a route selection base score to at least some of the virtual lanes according to the mission status of the smart logistics vehicle 110, and the route selection unit 149 can determine the travel route based on this so that the virtual lanes according to the mission status of the smart logistics vehicle 110 are separated.

[0108] Referring again to Figure 6, once the route selection unit 149 determines the travel route, it can transmit route information corresponding to the determined travel route to the smart logistics vehicle 110 that is performing the confirmed mission. In particular, the route selection unit 149 can select multiple waypoints corresponding to the travel route based on the determined travel route and transmit route information including information for the selected multiple waypoints to the smart logistics vehicle. At this time, the route selection unit 149 can transmit the route information to the communication unit 146 and then to the smart logistics vehicle 110 via the communication unit 146. The smart logistics vehicle 110 that is performing the mission confirmed by the route selection unit 149 can receive route information corresponding to the travel route determined by the route selection unit 149 via the communication unit 114.

[0109] The route selection unit 149 transmits route information, including information about multiple waypoints, to the smart logistics vehicle 110. Based on this route information, the smart logistics vehicle 110 determines the route selection base score assigned to at least one virtual lane formed between waypoints and moves between the waypoints accordingly. This will be explained in detail with reference to Figure 11.

[0110] Figure 11 illustrates a smart logistics vehicle that travels based on route information according to one embodiment of the present invention.

[0111] Referring to Figure 11, the route selection unit 149 can select multiple waypoints WP1, WP2, WP3, and WP4 corresponding to the determined travel route, and these multiple waypoints WP1, WP2, WP3, and WP4 can reside on any of the virtual lanes. However, this is illustrative and, for the sake of explanation, is only shown as existing on one virtual lane, and it goes without saying that it is not necessarily limited to this. For example, the multiple waypoints WP1, WP2, WP3, and WP4 may reside on multiple virtual lanes.

[0112] The route selection unit 149 can transmit route information, including information about the selected waypoints, to the smart logistics vehicle 110, and the smart logistics vehicle 110 can drive according to the mission status based on the route information including information about the waypoints. However, when the smart logistics vehicle 110 is driving, it can drive while updating the state of the virtual lane it is currently driving in real time via a separately provided sensing unit 112. For this reason, even if the route selection unit 149 provides the smart logistics vehicle 110 with a global route connecting multiple waypoints WP1, WP2, WP3, and WP4 as the driving route, the smart logistics vehicle 110 can drive in a way that forms a local route in the section between waypoints rather than the global route via real-time sensing by the sensing unit 112. In addition, when at least one virtual lane is formed between the multiple waypoints WP1, WP2, WP3, and WP4, the smart logistics vehicle 110 can directly determine the route selection base score assigned to at least one virtual lane and move between waypoints along the virtual lane that has a route selection base score corresponding to the current mission status.

[0113] Hereinafter, a smart logistics vehicle control method according to an embodiment of the present invention will be described with reference to Figure 12, based on the configuration of the control device 140 described above in Figure 6.

[0114] Figure 12 is a diagram illustrating a smart logistics vehicle control method according to one embodiment of the present invention.

[0115] Referring to Figure 12, the map management unit 148 can generate map information in which at least some virtual lanes within the operational boundary 100 are assigned different route selection base scores according to the mission status (S1210). The map management unit 148 can then provide the generated map information to the route selection unit 149 (S1220). However, step S1210 may be omitted depending on the embodiment, and if omitted, the map management unit 148 can also provide pre-configured map information to the route selection unit 149.

[0116] Furthermore, the route selection unit 149 can receive and collect process information of the operational boundary 100 from the production equipment 120 (S1230). Based on the collected process information, the route selection unit 149 can confirm the mission status of the smart logistics vehicle 110 (S1240), and based on the route selection base score corresponding to the mission status confirmed based on the map information provided by the map management unit 148, it can determine a travel route that moves along the virtual lane corresponding to the confirmed mission status (S1250). The process of determining the travel route has been described in detail through Figures 6 and 7 to 10, so further explanation is omitted.

[0117] The route selection unit 149 can generate route information corresponding to the determined travel route and transmit the generated route information to the communication unit 114 of the smart logistics vehicle 110 (S1260-1). The communication unit 114 of the smart logistics vehicle 110 can transmit the route information transmitted from the route selection unit 149 to the control unit 115 (S1260-2), and the control unit 115 can control the smart logistics vehicle 110 to travel according to the mission status based on the transmitted route information (S1270).

[0118] As described above, the smart logistics vehicle control method and control device of the present invention can improve the mobility of smart logistics vehicles by preventing intersections or overlaps of travel paths, by determining a travel path so that the smart logistics vehicle moves along a virtual lane corresponding to the confirmed mission status based on a route selection base score corresponding to the confirmed mission status.

[0119] Furthermore, by determining the travel routes of smart logistics vehicles based on their mission status, it is possible to easily identify free space in logistics within operational boundaries.

[0120] Although illustrated and described in relation to specific embodiments of the present invention, it will be apparent to those ordinary skill in the art that the present invention can be improved and modified in various ways without departing from the technical spirit of the invention provided by the following claims.

[0121] The present invention described above can be implemented as computer-readable code on a medium on which a program is recorded. Computer-readable media include all types of recording devices that store data readable by a computer system. Examples of computer-readable media include HDDs (Hard Disk Drives), SSDs (Solid State Disks), SDDs (Silicon Disk Drives), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, and optical data storage devices. Therefore, the above detailed description should not be interpreted restrictively in any way, but should be considered illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are also included within the scope of the present invention. [Explanation of Symbols]

[0122] 100 operational boundaries 110 Smart Logistics Vehicles 120 Production equipment 130 Monitoring equipment 140 Control equipment

Claims

1. Steps to check the mission status of smart logistics vehicles, The steps include: determining a travel route so that the smart logistics vehicle moves along the virtual lane corresponding to the confirmed mission status based on the route selection base score corresponding to the confirmed mission status, based on map information in which different route selection base scores are assigned to at least some virtual lanes within the operational boundary according to the mission status; A smart logistics vehicle control method comprising the step of transmitting route information corresponding to the determined travel route to the smart logistics vehicle.

2. The aforementioned mission status is, The smart logistics vehicle control method according to claim 1, characterized in that it includes at least one of the following: information regarding the mission to be performed by the smart logistics vehicle; information regarding the loading status of the smart logistics vehicle; and information regarding the type of the smart logistics vehicle.

3. The aforementioned loading status information is, The smart logistics vehicle control method according to claim 2, characterized in that it includes at least one of the following: information regarding whether or not the smart logistics vehicle is loaded, and information regarding the loaded goods loaded on the smart logistics vehicle.

4. The aforementioned route selection base score is, The smart logistics vehicle control method according to claim 1, characterized in that it means a cost assigned to each unit section or unit cell within the operational boundary according to the mission status.

5. The aforementioned verification step is, The steps include: collecting process information for the aforementioned operational boundary; The smart logistics vehicle control method according to claim 1, characterized by comprising the step of confirming the mission status of the smart logistics vehicle determined based on the collected process information.

6. The aforementioned process information is, The smart logistics vehicle control method according to claim 5, characterized in that it includes at least one of the process status information and logistics request information of the aforementioned operational boundary.

7. The aforementioned determination step is, The steps include selecting a departure point and destination within the operational boundary corresponding to the confirmed mission status, The smart logistics vehicle control method according to claim 1, characterized by comprising the step of determining the travel route connecting the selected departure point and destination based on the map information.

8. The aforementioned determination step is, The smart logistics vehicle control method according to claim 7, characterized in that the travel route connecting the departure point and the destination is determined by further considering the status information of the selected departure point and destination.

9. The aforementioned determination step is, The smart logistics vehicle control method according to claim 1, characterized in that it includes the step of determining the travel route based on map information in which information regarding the activation status of at least some of the virtual lanes according to the mission status is further reflected in the map information.

10. The aforementioned transmission step is, Based on the determined travel route, the step of selecting a plurality of waypoints corresponding to the travel route, A smart logistics vehicle control method according to claim 1, characterized by comprising the step of transmitting route information, which includes information about the selected plurality of waypoints, to the smart logistics vehicle.

11. The aforementioned transmission step is, The smart logistics vehicle control method according to claim 10, characterized in that the smart logistics vehicle determines, based on the route information, a route selection basis score assigned to at least one virtual lane formed between waypoints, and transmits the route information, including information about the plurality of waypoints, to the smart logistics vehicle so that it moves between the waypoints.

12. A map management unit provides map information in which different route selection base scores are assigned to at least some virtual lanes within the operational boundary, depending on the mission status. A control device comprising: a route selection unit that checks the mission status of a smart logistics vehicle, determines a travel route so that the smart logistics vehicle moves along a virtual lane corresponding to the confirmed mission status based on a route selection base score corresponding to the confirmed mission status, based on map information provided by the map management unit, and transmits route information corresponding to the determined travel route to the smart logistics vehicle.

13. The aforementioned route selection unit, The control device according to claim 12, characterized by collecting process information of the operational boundary and confirming the mission status of the smart logistics vehicle determined based on the collected process information.

14. The aforementioned route selection unit, The control device according to claim 12, characterized in that it selects a departure point and a destination within the operational boundary corresponding to the confirmed mission status, and determines the travel route connecting the selected departure point and destination based on the map information.

15. The aforementioned route selection unit, The control device according to claim 14, characterized in that it determines the travel route connecting the departure point and the destination, taking into further consideration the status information of the selected departure point and destination.

16. The aforementioned route selection unit, The control device according to claim 12, characterized in that it determines the driving route based on map information in which information regarding the activation status of at least some of the virtual lanes according to the mission status is further reflected in the map information.

17. The aforementioned route selection unit, The control device according to claim 12, characterized in that it selects a plurality of waypoints corresponding to the determined travel route based on the travel route, and transmits route information including information about the selected plurality of waypoints to the smart logistics vehicle.

18. The aforementioned route selection unit, The control device according to claim 17, characterized in that the smart logistics vehicle determines, based on the route information, a route selection basis score assigned to at least one virtual lane formed between waypoints, and transmits the route information, including information about the plurality of waypoints, to the smart logistics vehicle so that it moves between the waypoints.

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