Method and control device for controlling logistics robots

Abstract

The present invention provides a control method and control device for a logistics robot that can generate detour routes based on status information within an operational boundary. [Solution] A method for controlling a logistics robot according to the present invention includes the steps of: setting a region rule including a movable direction for at least one movable region that can be variably set within an operational boundary; determining whether or not to change the region rule for a movable region related to a predetermined region based on state information including at least one of information on the number of logistics robots that occupy a predetermined region within the operational boundary, information on the process state within the operational boundary, and mission information for the logistics robot; and setting a route for the logistics robot between a departure point and a destination based on the mission information of the logistics robot, based on the region rule that reflects the decision.

Description

Technical Field

[0001] The present invention relates to a method for controlling a logistics robot and a control device, which change attributes of a movement area for the logistics robot according to state information within an operation boundary.

Background Art

[0002] Not only in general logistics warehouses and factories, but also in smart factories that manufacture articles of different specifications using various components, logistics robots have been introduced for flexible and efficient supply and transfer of components and the like. The logistics robot is a general concept referring to Autonomous Mobile Robots (AMRs), Automated Guided Vehicles (AGVs) and the like, and such logistics robots can move and perform operations under the control of the control device.

[0003] In a smart factory, a logistics robot can move along an optimal movement path based on path planning to perform a mission assigned by a control device. The matters described as the background art above are merely for enhancing understanding of the background of the present invention, and should not be construed as an admission that they correspond to prior art already known to those of ordinary skill in the art.

Summary of Invention

Problems to be Solved by the Invention

[0004] Accordingly, a technical problem to be solved by the present invention is to generate a detour movement path for a logistics robot by changing attributes of a movement area for the logistics robot according to state information within an operation boundary. The technical problem to be solved by the present invention is not limited to the above-mentioned technical problem, and other technical problems not mentioned above will be clearly understood by those of ordinary skill in the technical field to which the present invention pertains from the following description.

Means for Solving the Problems

[0005] A method for controlling a logistics robot according to the present invention is a method for controlling a logistics robot operating within a predetermined operational boundary, comprising the steps of: setting a region rule including a movable direction for at least one movable region that can be variably set within the operational boundary; determining whether or not to change the region rule for a movable region related to the predetermined region based on state information including at least one of information on the number of logistics robots that occupy the predetermined region within the operational boundary, information on the process state within the operational boundary, and mission information for the logistics robot; and setting a route for the logistics robot between a departure point and a destination based on the mission information for the logistics robot, based on the region rule reflecting the decision.

[0006] For example, the predetermined region may correspond to the moving region or a predetermined zone that includes at least a portion of the moving region.

[0007] For example, the region rule may include at least one of the following: whether or not the moving region is activated, or the direction in which the moving region can move.

[0008] For example, the area rule may further include at least one of the following: the center offset of the virtual roadway, whether or not there is a waiting period before entry, its position, its size, and the deceleration of the logistics robot within the virtual roadway.

[0009] For example, the determination step may include changing the area rules for the movement area related to the predetermined area if the number of logistics robots occupying the area reaches the occupancy limit.

[0010] For example, when determining the generation of a detour route due to the reaching of the occupancy limit, the method may further include the step of generating the detour route in accordance with the modified area rules.

[0011] For example, the step of setting the occupancy limit includes setting multiple occupancy limits for each state of the logistics robot, and the step of changing the limit may be performed if any of the multiple occupancy limits for each state are met.

[0012] For example, the state of each logistics robot may include at least one of the following: normal state, error state, presence or absence of load, type of load at the time of loading, and state of execution of a specific mission.

[0013] For example, information regarding the number of logistics robots that occupy the area can be determined by considering at least one of the following: the direction of movement of each logistics robot within the movement area, its position within the movement area, and its speed.

[0014] The control device according to the present invention is a control device for controlling a logistics robot operating within a predetermined operational boundary, and is characterized by comprising: a map management unit that sets area rules including the direction of movement for at least one variably set movement area within the operational boundary; and a work schedule management unit that determines whether or not to change the area rules for a movement area related to the predetermined area based on state information including at least one of information on the number of logistics robots that occupy a predetermined area within the operational boundary, mission information for the logistics robots, and information on the process state, and sets a route for the logistics robot between the departure point and destination based on the mission information for the logistics robots using the area rules that reflect the decision.

[0015] For example, the predetermined region may correspond to the moving region or a predetermined zone that includes at least a portion of the moving region.

[0016] For example, the region rule may include at least one of the following: whether or not the moving region is activated, or the direction in which the moving region can move.

[0017] For example, the area rule may further include at least one of the following: the center offset of the virtual roadway, whether or not there is a waiting period before entry, its position, its size, and the deceleration of the logistics robot within the virtual roadway.

[0018] For example, the map management unit can set a limit on the number of logistics robots that can occupy a predetermined area, and the work schedule management unit can change the area rules for the movement area related to the predetermined area if the number of logistics robots occupying the area reaches the limit.

[0019] For example, when the work schedule management unit decides to generate a detour route due to the reaching of the occupation limit, it can generate the detour route in accordance with the modified area rules.

[0020] For example, the map management unit sets multiple status-specific occupancy limits based on the state of each of the logistics robots, and the work schedule management unit can change the area rules for the movement area related to the predetermined area when any of the multiple status-specific occupancy limits are met.

[0021] For example, the state of each logistics robot may include at least one of the following: normal state, error state, presence or absence of load, type of load at the time of loading, and state of execution of a specific mission.

[0022] For example, information regarding the number of logistics robots that occupy the area can be determined by considering at least one of the following: the direction of movement of each logistics robot within the movement area, its position within the movement area, and its speed. [Effects of the Invention]

[0023] According to the present invention, by changing the attribute of the movement area for the logistics robot in accordance with the state information within the operation boundary to generate a detour movement path for the logistics robot, the movement of the logistics robot can be made smooth. The effects obtainable by the present invention are not limited to the effects described above, and other effects not described above will be clearly understood by those having ordinary knowledge in the technical field to which the present invention pertains from the subsequent description. Brief Description of the Drawings

[0024] [Figure 1] FIG. 2 is a block diagram showing an example of the configuration of an operation boundary applicable to an embodiment of the present invention. [Figure 2] FIG. 3 is a block diagram showing an example of the configuration of a control device applicable to an embodiment of the present invention. [Figure 3] FIG. 4 is a block diagram showing an example of the configuration of a work schedule management unit included in a control device applicable to an embodiment of the present invention. [Figure 4] FIG. 5 is a block diagram showing an example of the configuration of a logistics robot applicable to an embodiment of the present invention. [Figure 5] FIG. 6 is a perspective view showing an example of the external appearance of a logistics robot applicable to an embodiment of the present invention. [Figure 6] FIG. 7 is a flowchart showing an example of the traveling process of a logistics robot applicable to an embodiment of the present invention. [Figure 7] FIG. 8 is a sequence diagram for explaining a method of generating a detour movement path for a logistics robot according to an embodiment of the present invention. [Figure 8a] FIG. 9 is a diagram for explaining the process in which a logistics robot performs detour movement or standby according to an embodiment of the present invention. [Figure 8b] FIG. 10 is a diagram for explaining the process in which a logistics robot performs detour movement or standby according to an embodiment of the present invention. [Figure 9] FIG. 11 is a diagram for explaining the process in which a logistics robot performs detour movement or standby according to an embodiment of the present invention. [Figure 10a]This diagram illustrates the process by which a logistics robot according to one embodiment of the present invention performs detour movement or waiting. [Figure 10b] This diagram illustrates the process by which a logistics robot according to one embodiment of the present invention performs detour movement or waiting. [Figure 10c] This diagram illustrates the process by which a logistics robot according to one embodiment of the present invention performs detour movement or waiting. [Figure 10d] This diagram illustrates the process by which a logistics robot according to one embodiment of the present invention performs detour movement or waiting. [Figure 11] This diagram illustrates the process by which the activation or non-activation of a movement path for a logistics robot is controlled according to one embodiment of the present invention. [Modes for carrying out the invention]

[0025] The embodiments disclosed herein will now be described in detail with reference to the accompanying drawings.

[0026] Regardless of the reference numerals used in the drawings, identical or similar components are given the same reference numerals, and redundant explanations thereof are omitted. The suffixes “module” and “part” used for components in the following description are added or mixed for the sole purpose of ease of specification preparation and do not have any distinguishing meaning or role in themselves. Furthermore, in describing the embodiments disclosed herein, if it is determined that a specific description of related known technology would obscure the gist of the embodiments disclosed herein, such detailed description will be omitted. In addition, the accompanying drawings are merely for the purpose of facilitating the understanding of the embodiments disclosed herein, and should be understood not to limit the technical ideas disclosed herein, but to include all modifications, equivalents, or substitutes that fall within the concept and technical scope of the present invention.

[0027] 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 aforementioned terms are used solely for the purpose of distinguishing one component from another. When a component is said to be "linked" or "connected" to another component, it should be understood that this means it is directly linked or connected to that other component, but also includes cases where another component is interposed between them. On the other hand, when a component is said to be "directly linked" or "directly connected" to another component, it should be understood that there is no other component interposed between them.

[0028] A singular expression includes plural expressions unless the context clearly indicates a different meaning. In this specification, terms such as “includes” or “having” are intended to specify the presence of features, figures, steps, actions, components, parts, or combinations thereof as described in the specification, and should be understood not to preemptively exclude the possibility of the presence or addition of one or more other features, figures, steps, actions, components, parts, or combinations thereof.

[0029] Furthermore, the terms "Unit" or "Control Unit" included in the names of the internal components of a logistics robot or control device are merely widely used terms for naming a controller that controls a specific function, and do not mean a generic function unit. For example, each controller may include a modem / transceiver for communicating with other controllers and sensors to control its assigned function, memory for storing operational information, logic commands, and input / output information, and one or more processors for performing judgments, calculations, and decisions necessary for controlling its assigned function. Depending on the implementation, one processor may be responsible for calculations for multiple controllers.

[0030] Referring to Figure 1, the configuration of the operational boundary where the logistics robot according to the embodiment is deployed and operated will be described.

[0031] Figure 1 is a block diagram showing an example of an operational boundary configuration applicable to the embodiment. Referring to Figure 1, the operational boundary 100 may include a logistics robot 110, a production device 120, a monitoring device 130, and a control device 140. Depending on the production process and target production speed of the product, the operational boundary 100 may be equipped with multiple logistics robots 110, multiple production devices 120, and multiple sensing devices 130. The operational boundary 100 can be realized as a smart factor, but is not necessarily limited to this. The components will be described below.

[0032] First, the logistics robot 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 according to the operational policy of the logistics robot 110, or both AGVs and AMRs may be operated within the operational boundary 100.

[0033] 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 at close range without contact (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.

[0034] Since AGVs primarily operate by recognizing and following guidance equipment, they require that guidance equipment be pre-installed before operation. If an 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 near the route, it is common for the AGV to stop until the detected obstacle disappears or until it receives further control. In AGV operation, the control device 140 must control the AGV based on the guidance equipment, so it can transmit commands to the AGV in the form of individual commands or in the form of missions (e.g., recovery, supply, charging, patrol, etc.) that include multiple commands, such as "drive until the third marker is recognized" or "when the third marker is recognized, switch the heading direction by 90 degrees."

[0035] 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 it on a coordinate-based path. Furthermore, if an obstacle is detected while traveling, the AMR can automatically set an avoidance path to avoid the obstacle and then return to the existing path. The function by which the control unit 140 sets the AMR's path to 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.

[0036] A more detailed description of the logistics robot 110's configuration will be provided later with reference to Figures 4 and 5, and the AMR's driving control process will be described later with reference to Figure 6.

[0037] Next, the production equipment 120 can mean equipment that performs 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 performed by humans, it can also mean equipment positioned to assist in the execution of missions such as the entry and exit of the logistics robot 110. Equipment positioned to assist in the execution of missions may include, but is not limited to, devices that sense the state of a designated position where pallets transported by the logistics robot 110 can be unloaded or collected within the area where a particular production process is performed, devices that determine the progress of the process, and means for blocking entry and exit within the area.

[0038] For example, the production equipment 120 is controlled via a PLC (Programmable Logic Controller) and can communicate with the control device 140 in relation to the progress of the process.

[0039] 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. The control device 140 can communicate with the aforementioned components 110, 120, and 130 to acquire information necessary for the operation of the operational boundary 100 and to control each component. For example, the control device 140 can perform tasks such as dispatching logistics robots 110, setting routes, assigning missions, managing processes by product, and managing materials.

[0040] In implementation, the control device 140 may include a local control device (STM: AMR / AGV Control System) that controls surrounding 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 control the status and routes of all logistics robots 110 within the operational boundary 100, logistics flow settings, and traffic control from each of the multiple local control devices. For example, if local control devices ACS are provided for each logistics robot of the same manufacturer or model, the integrated control device can perform integrated control for collision prevention, such as analyzing bottleneck levels in crossing / overlapping areas, controlling acceleration / deceleration during travel, and regenerating avoidance routes, based on information acquired through multiple local control devices ACS.

[0041] Furthermore, the integrated control system can also 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).

[0042] 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 the logistics robots 110, loading spaces for parts storage and loading, spaces for storing finished products and intermediate products, signal lights, circuit breakers, and waiting spaces for idle logistics robots 110 can also be appropriately arranged within the operational boundary 100.

[0043] The configuration of the control device 140 applicable to embodiments of the present invention will be described below with reference to Figure 2.

[0044] 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 relevant to embodiments of the present invention, and in actual implementation of the control device 140, more or fewer components may be included.

[0045] 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 work generation unit 147, a map management unit 148, and a work schedule management unit 149. The firmware management unit 141 can maintain the firmware of the logistics robot 110 up to date by obtaining the latest firmware of the logistics robot 110 via the communication unit 146 and transmitting it to the logistics robot 110 so that the firmware can be updated.

[0046] The traffic control unit 142 controls signal lights and circuit breakers based on the route of the logistics robot 110, and can also recalculate the route of the logistics robot 110 according to the traffic. The process management unit 143 can define processes for each product and manage missions such as process progress and current position. The production / logistics management unit 144 can dispatch the logistics robot 110 on a mission basis.

[0047] The inventory management unit 145 manages the location and quantity of each material, and this information can be useful for more efficient process operation, such as sending the logistics robot 110 to its destination in advance of the actual assembly / consumption of materials for pallet picking and retrieval. The communication unit 146 can communicate not only with internal components of the operational boundary 100, such as the logistics robot 110, production equipment 120, and monitoring equipment 130, but also with external devices such as a firmware update server.

[0048] The work generation unit receives logistics sequence information from the Manufacturing Execution System (MES, not shown) via the communication unit 146, process status information and parts supply information from the production equipment 120, and process surrounding monitoring information from the monitoring device 130. Based on the received information, it can generate mission (job) information for the logistics robots 110 and transmit it to the work schedule management unit 149, described later. The mission information may include departure and destination information for each of the logistics robots 110.

[0049] The map management unit 148 can acquire grid-map-like map data obtained by the AMR (Autonomous Mobile Robot) of the logistics robot 110 while it is traveling inside the operational boundary 100, and can provide a tool that allows the factory manager to edit the acquired map data. By editing the map data, it is possible to set areas (zones) in which the logistics robot 110 will perform one or more predetermined actions when it enters, virtual roadways (lanes), intersections, no-entry areas, etc., but this is an example and is not necessarily limited to these.

[0050] Here, a zone can contain one or more virtual lanes, and these virtual lanes are referred to as movement zones. For example, if an intersection zone is designated as a single zone where multiple virtual lanes intersect, it can be seen as being composed of multiple movement zones.

[0051] The map management unit 148 can set area rules (or attributes) for each lane and zone. The area rules may include, but are not limited to, at least one of the following: whether a lane or zone is activated (travel is not possible when deactivated), direction of travel, center offset of the virtual road that serves as the travel reference line when the logistics robot 110 travels, whether or not to wait before entering, position, size, and speed adjustment of the logistics robot 110 within the virtual road. If the speed adjustment of the logistics robot 110 within the virtual road is implemented in the form of deceleration, the risk of collision can be reduced by having the robot enter and travel through a particular zone at a low speed if that zone is excessively congested.

[0052] Furthermore, the map management unit 148 can also distribute the initial grid map to the remaining logistics robots 110, excluding the logistics robot 110 that acquired the initial grid map through actual travel, via the communication unit 146. The work schedule management unit 149 can determine whether or not there has been a change in the area rules based on at least one of the process information of the operational boundary 100 received from the production equipment 120 and monitoring equipment 130 via the communication unit 146, the mission information of the logistics robots acquired from the work generation unit 147, and the area rule change conditions, and can generate or adjust the global route of the logistics robots 110 based on the area rules that reflect the result of that determination.

[0053] Examples of modification conditions for territorial rules are as follows, and two or more example conditions may be combined: - Number of dedicated logistics robots within a specific LANE / ZONE - Status information of the logistics robots occupied within a specific LNAE / ZONE (type of logistics robot, whether or not it is loaded, type of loaded item, presence or absence of errors, location and route, position within the area, etc.) - Number of logistics robots with specific status information within a specific LANE / ZONE - A location within a specific LANE / ZONE can be included in the count if it is at the entry point of a path through that area, but it can be excluded if it is in the latter part of the path. - The path direction of a logistics robot attempting to enter a specific LANE / ZONE, as well as the path direction and position of the occupied logistics robot, can be considered. - Mission / JOB information, such as logistics sequences, parts supply information, process status information, and monitoring information received by the MES, is comprehensively defined as a mission / JOB. - Parts supply information (type, form, size, etc. of supplied parts) - Process status information (information received from the equipment PLC) - Monitoring information (information received from sensors around the equipment) The more specific configuration and operation method of the work schedule management unit 149 will be explained with reference to Figure 3.

[0054] Figure 3 is a block diagram showing an example of the configuration of a work schedule management unit included in a control device applicable to embodiments of the present invention. Referring to Figure 3, the work schedule management unit 149 may include a mission group management unit 149a, an operational mission management unit 149b, a priority calculation unit 149c, a control operation state management unit 149d, and a movement path setting unit 149e. The mission group management unit 149a can group the missions of the logistics robot 110 based on process information and manage the grouped missions.

[0055] The operational mission management unit 149b can create a list of ongoing missions for the logistics robot 110 and monitor the created list. The priority calculation unit 149c can determine priorities for the missions of the logistics robot 110 and can change and monitor the determined priorities.

[0056] The control operation state management unit 149d can monitor and compare the operating state of the logistics robot 110 and the production equipment control state of the PLC based on data from the mission group management unit 149a, the operational mission management unit 149b, and the priority calculation unit 149c. In addition, the control operation state management unit 149d can determine whether or not to change the area rules based on at least one of the following: process information of the operational boundary 100 received from the production equipment 120 and the monitoring device 130 via the communication unit 146, mission information of the logistics robot acquired from the work generation unit 147, and area rule change conditions.

[0057] The movement path setting unit 149e can set the optimal global path for the logistics robot 110 according to the mission set in the mission group management unit 149a, based on the area rules currently applied to at least one of the virtual lanes or zones.

[0058] Next, we will explain the logistics robot with reference to Figures 4 and 5.

[0059] Figure 4 is a block diagram showing an example of the configuration of a logistics robot applicable to embodiments of the present invention. Referring to Figure 4, the logistics robot 110 may include a travel 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.

[0060] The running section 111 may include a drive source, wheels, and suspension involved in the movement, steering, and stopping of the logistics robot 110. The drive source may be an electric motor powered by a built-in battery (not shown). The wheels may include one or more drive wheels that receive driving force from the drive source, and non-drive wheels that do not receive driving force and rotate due to the movement of the vehicle body. In implementation, if multiple drive wheels are provided, the drive source is matched for each drive wheel so that the rotation of each drive wheel is controlled independently. In such a case, by making the rotation directions of different drive wheels different from each other, 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 type wheels, but this is illustrative and not necessarily limited to this.

[0061] The sensing unit 112 is for sensing the surrounding environment of the logistics robot 110 and its own operating state, and includes at least one of the following: a 2D laser scanner (e.g., LiDAR), a 3D vision (stereo) camera, a multi-axis gyro sensor, an accelerometer, a wheel encoder, and a proximity sensor.

[0062] 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 for a unit of time. The control unit 115 can perform odometry, which estimates displacement by analyzing the amount of change in position relative to time using data acquired by the encoder and gyro sensor. However, due to wheel slip or wear (changes in the wheel's radius of motion), the displacement estimated based on the encoder data may differ from the actual displacement. Therefore, when performing odometry, the control unit 115 can correct for noise and errors in the information collected from the gyro sensor using a predetermined algorithm (e.g., EKF: Extended Kalman Filter) to output results that show a trend closer to the actual value. Such odometry is particularly useful when localization using a 2D laser scanner, as described later, is not possible.

[0063] 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 sensing the shape of a point cloud.

[0064] 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 even flat surfaces of the same hue (for example, a white wall) can be detected.

[0065] 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 uses. The loading section 113 is a means for loading the items to be transported and may be the upper plate itself or a table, lift, turntable rotating along a vertical axis, forklift, conveyor, or a combination thereof, located on the upper plate of the vehicle body. In the case of a forklift, telescopic and tilt functions may also be supported, similar to those of a material handling vehicle.

[0066] The communication unit 114 can communicate with other components within the operational boundary 100, such as the production equipment 120 and the control device 140, and can also support communication between logistics robots 110, and can communicate with the charger when a charging mission is being executed. The control unit 115 is the main unit 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.

[0067] Figure 5 is a perspective view showing an example of the appearance of a logistics robot applicable to embodiments of the present invention. Referring to Figure 5, an example of an AMR is shown as the logistics robot 110. The vehicle body may have a track-type planar shape with a long axis extending along one axis overall. One drive wheel 111-1 may be located in the center of the vehicle body along one axis and on one side along two axes, and other drive wheels (not shown) may be located on the other side so as to face the one drive wheel 111-1 along two axes. Such a drive wheel arrangement is called a "differential drive DD".

[0068] Although not shown in Figure 4, two or more non-driven wheels may be arranged on the underside of the vehicle body. In such a case, if the two driven wheels rotate in the same direction at the same speed, forward or backward movement is possible along one axis, and if they rotate in opposite directions at the same speed, they can rotate with respect to a rotation axis that extends along three axes and passes through the center c of the vehicle body's plane. A sensor unit 112 may be arranged on the front of the vehicle body, and a loading unit 113 may be arranged on the top. The loading unit 113 may be configured to move up and down along three axes, and a rack or tray may be fixed to the top surface via a guide 113-1. However, it goes without saying that the AMR configuration in Figure 5 described above is illustrative, and AGVs may have a similar configuration, or AMRs may have a different configuration. Next, the travel process of the logistics robot 110 will be described with reference to Figure 6.

[0069] Figure 6 is a flowchart illustrating an example of the travel process of a logistics robot 110 applicable to embodiments of the present invention. For convenience, Figure 6 assumes that the logistics robot 110 is an AMR capable of positioning and local path planning.

[0070] Referring to Figure 6, first, the AMR can acquire a measured grid map via lidar or the like while traveling within the operational boundary 100 (S601). When the AMR transmits the acquired grid map to the control unit 140, the map management unit 148 of the control unit 140 may perform grid map editing and matching processes (S602). Here, the editing process may include the process of setting the various areas (zones) mentioned above 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 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.

[0071] Furthermore, the map matching process refers to the process of matching the coordinates of the CAD map used to design the operational boundary 100, the measured grid map (lidar map), and the topology map that has undergone the editing process. Subsequently, the control unit 140 can share the topology map with all AMRs in the factory via the communication unit 146 (S603). Subsequent steps may be processes applied 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 (S604). For example, the AMR can determine its current location by comparing the surrounding terrain acquired via lidar with the map on a feature point basis.

[0073] The control unit 140 can select a specific AMR and assign it a mission, which may be assigned one or more waypoints determined by 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 at those coordinates. Such a mission assignment allows the AMR to be given a destination (Yes in S605), and the AMR can perform local path planning between waypoints based on the cost of the topology map (S606).

[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 S608), it can perform an evasive maneuver by searching for a local route to bypass the detected obstacle (S609). Depending on the circumstances, 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 correct positional errors during travel via the aforementioned odometry method while traveling until it reaches its destination (S610). After reaching its destination (S611), the AMR can perform a mission-based activation (S612). For example, the AMR can determine whether the conditions for entering a specific process area have been met, retrieve an empty pallet from the destination, or drop the cargo loaded in the loading unit 113.

[0076] The above describes the configuration and operation methods of the logistics robot 110, production equipment 120, monitoring device 130, and control device 140 included in the operational boundary 100 applicable to embodiments of the present invention.

[0077] The following describes how a logistics system operates in which a control device controls a logistics robot operating within a predetermined operational boundary, and generates a detour path for the logistics robot by changing the attributes of the movement area for the logistics robot according to the state information within the operational boundary.

[0078] Figure 7 is a sequence diagram illustrating the process of setting a movement path for a logistics robot operating within a predetermined operational boundary in a logistics system according to one embodiment of the present invention. In Figure 7, for convenience, it is assumed that the logistics robot 110 is an AMR capable of positioning and local path planning.

[0079] Referring to Figure 7, the map management unit 148 of the control device 140 can variably set at least one of the size or position of at least one movement area on the map of a predetermined operational boundary, and set area rules including the direction of movement and the offset of the travel reference line for each of the variably set movement areas (S710). At this time, the movement area can be specified on the CAD map used to design the operational boundary, but is not necessarily limited to this. The area rules for the movement area can be activated or deactivated depending on the equipment information of the operational boundary. For example, the direction of movement of a movement area can be set to any one of the following: the first longitudinal direction of the movement area, the second longitudinal direction opposite to the first longitudinal direction, and both directions including the first and second longitudinal directions. In addition, the travel reference line of a movement area can be adjusted according to the offset value with respect to the center line of each of the multiple movement areas. More specifically, the travel reference line can be shifted to one side of the center line or to the other side of the center line depending on the offset value. For example, the driving reference line can be set to the center line of the movement area if the offset value is "0", shifted to one side of the center line of the movement area (e.g., the left side) if the offset value is a positive number, and shifted to the other side of the center line of the movement area (e.g., the right side) if the offset value is a negative number.

[0080] Furthermore, the map management unit 148 of the control device 140 can set a limit on the number of logistics robots 110 that can occupy a predetermined area (S701). Here, the predetermined area corresponds to a movement area or a predetermined zone that includes at least a part of the movement area, and the predetermined zone can correspond to a traffic zone or an interlock zone that corresponds to an intersection.

[0081] The map management unit 148 can transmit configuration information, including area rules for predetermined areas and movement areas, to the work schedule management unit 149 (S720). Subsequently, optimal route control (S730) can be performed for the logistics robot 110, reflecting whether or not the area rules have been changed according to one embodiment. The optimal route control (S730) process can be repeated depending on the satisfaction of predetermined conditions. For example, the conditions for repeating the process (S730) may be, but are not necessarily limited to, the arrival of a specific point such as a waypoint by an individual logistics robot 110.

[0082] The following describes the specific process by which optimal route control (S730) is performed. The production equipment 120 and the monitoring device 130 can transmit process information of the operational boundary to the work generation unit 147 (S731, S732, S733). More specifically, the production equipment 120 can transmit process status information and parts supply information to the work generation unit 147 (S731, S733), and the monitoring device 130 can transmit process surrounding monitoring information to the work generation unit 147 (S732). Although not shown in the diagram, each piece of information transmitted from the production equipment 120 and the monitoring device 130 to the work generation unit 147 (i.e., process information of the operational boundary) can be shared with other components within the control device 140, such as the work schedule management unit 149.

[0083] The work generation unit 147 can generate Job (mission) information, including the departure and destination information of the logistics robot 110, based on the acquired information, and transmit it to the work schedule management unit 149.

[0084] On the other hand, the logistics robot 110 can transmit status information such as route, location, and whether or not there are errors to the work schedule management unit 149.

[0085] The schedule management unit 149 determines whether or not to change the area rules based on process information of the operational boundary 100 received from the production equipment 120 and monitoring equipment 130 via the communication unit 146, mission information of the logistics robots obtained from the work generation unit 147, logistics robot status information, and at least one of the pre-set area rule change conditions (for example, when the number of logistics robots occupying a predetermined area reaches the occupancy limit), thereby determining the area rules (i.e., the attributes of the Lane / Zone) (S736).

[0086] The work schedule management unit 149 can generate or adjust the global route of the logistics robot 110 based on the area rules that reflect the confirmed results. More specifically, the work schedule management unit 149 can, if necessary, instruct the logistics robot 110 to slow down or wait for a specific time (S737), or select an optimal route based on the area rules that reflect the determination results of whether or not changes have been made (S738). Here, the selected optimal route can mean a global route that includes one or more waypoints, and may be identical to an existing route, or it may be in the form of a detour or shortened route that has been modified in part.

[0087] Furthermore, the target of the domain rule modification can be a predetermined region (Zone) where the domain rule modification conditions are met. In other words, the target of the domain rule modification may be the predetermined region (Zone) where the domain rule modification conditions are met, or it may further include a lane to provide a detour around it. For example, if the number of logistics robots 110 occupying a predetermined region (Zone) reaches a predetermined limit value, the region rule may be modified so that the direction of travel of the lanes around the region (Zone) is reversed or added, so that the region (Zone) is given an immobile attribute, allowing other logistics robots 110 that can no longer pass through the region to detour. At this time, the number of logistics robots 110 occupying the region can be determined by considering the direction of travel, speed of travel, position on the region, etc., of each logistics robot 110 present in the region. For example, when considering the position, direction of movement, and speed of a particular logistics robot, if it is expected to leave the area within a predetermined time (e.g., 3 seconds), that particular logistics robot may be excluded from the calculation of the number of logistics robots occupying that area. This is because even if other robots for which the optimal path calculation is required pass through the area, it is highly likely that the particular logistics robot will have already left the area by the time the other robots arrive, and therefore will not substantially affect the occurrence of congestion in that area.

[0088] Waypoint information corresponding to the selected optimal route can be transmitted to the logistics robot 110 (S739).

[0089] For example, the work schedule management unit 149 can decide whether to set the status of the logistics robot 110 to a standby state or to generate a detour route for the logistics robot 110, taking into consideration at least one of the occupancy rate of the movement area or the offset of the travel baseline of the movement area. Here, the work schedule management unit 149 can decide to generate the detour route if the status of a logistics robot 110 located in a movement area where the occupancy limit for logistics robots 110 has been reached is in an error state.

[0090] When the control device 140's work schedule management unit 149 decides to generate a detour route, it can delete the route assigned to the logistics robot 110 in response to a work regeneration request received from the logistics robot 110, and set a detour route for the logistics robot 110 according to the attributes of the movement area.

[0091] Figures 8a, 8b, 9, 10a, 10b, 10c, and 10d illustrate the process by which a logistics robot according to one embodiment of the present invention performs detour movement or waiting. Referring to Figure 8a, within an operational boundary where movement areas 801 and 802, each having different possible directions of movement, are arranged side by side, the logistics robot A enters movement area 801, where area rules are set in the downward direction.

[0092] As a result, the work schedule management unit 149 performs the optimal route control (S730) described above, referring to Figure 7. For example, if the number of occupants for a predetermined area 810 on the moving area 801 is set to "1", the number of occupants is satisfied by the logistics robot B. In such a case, the work schedule management unit 149 can change the predetermined area 810 to an immovable attribute and decide to change the area rule so that the direction of movement of the moving area 802 opposite the area 810 is reversed, as shown in Figure 8b. The work schedule management unit 149 can also transmit a waypoint so that the logistics robot A descends through the moving area 802 according to the changed area rule. As a result, the logistics robot A can bypass or overtake the logistics robot B using the neighboring lane 802 of the existing lane 801.

[0093] Referring to Figure 9, in a traffic zone TZ set in one of two movement areas with the same direction of movement, a detour route is shown in which logistics robot A overtakes logistics robots B and C that entered zone TZ first. For example, if the number of occupancy restrictions for traffic zone TZ is set to "2", the work schedule management unit 149 can change the area rule for the relevant zone TZ to "immobile" and provide detour route information to logistics robot A.

[0094] Figure 10a assumes a situation where, in order for logistics robot A to reach its destination, it must pass through one of two movement areas 1010, which has two lanes of movement that allow movement in opposite directions, and then enter the movement area 1030 which has a downward movement direction. As logistics robot A approaches movement area 1010, the work schedule management unit 149 performs the optimal route control (S730) described above, referring to Figure 7.

[0095] For example, if the occupancy limit for a traffic zone TZ set in a single movement area 1010 is set to "2", the occupancy limit will be filled by logistics robots B and C that enter the zone TZ first, and the work schedule management unit 149 will change the area rule for the zone TZ to "immobile". Also, as shown in Figure 10b, the work schedule management unit 149 can change the movement direction attribute of a movement area 1020 near the traffic zone TZ to both directions in order to provide a path for logistics robot A to enter the movement area 1030 that it must pass through. Subsequently, the work schedule management unit 149 can provide logistics robot A with an optimal movement path that goes through the movement area 1020 near the traffic zone TZ and enters the movement area 1030 which has a downward movement direction, in accordance with the changed area rule. At this time, the state of the re-entering logistics robot D may be in a standby state. Since the area rules of the movement area 1020 near traffic zone TZ have bidirectional movement attributes, it goes without saying that once logistics robot A passes through area 1020, the re-entering logistics robot D can use area 1020 in the direction it was previously traveling.

[0096] Unlike Figure 10b, which modifies the area rules of the moving area 1020 near the traffic zone TZ, as shown in Figure 10c, the work schedule management unit 149 can also activate the slave lane 1010' of the moving area 1010 into which the logistics robot A has entered, providing a detour route for it to return the way it came.

[0097] In Figure 10d, the same assumptions as in Figure 10a are applied, and it is assumed that the occupancy limit for traffic zone TZ is set to "3". In this case, the occupancy limit is satisfied by logistics robots B, C, and D, which entered zone TZ first, and the work schedule management unit 149 changes the area rule for zone TZ to "immobile". However, since the use of a detour route as in Figure 10a is not possible (i.e., zone TZ cannot be bypassed even if the direction of movement of any movement area is changed), the work schedule management unit 149 can transmit a wait or deceleration command to logistics robot A (i.e., S737 in Figure 7). Subsequently, when at least one of the logistics robots B, C, and D that entered first leaves zone TZ, the work schedule management unit 149 changes the area rule for zone TZ back to "immobile" and can provide the optimal route to logistics robot A accordingly. Of course, as mentioned above, when considering the direction, speed, and position of each of the logistics robots B, C, and D that entered first, if it is expected that at least one will leave zone TZ within a predetermined time, the logistics robot expected to leave will be excluded from the occupancy count, and logistics robot A can immediately enter zone TZ while maintaining the area rules of zone TZ.

[0098] Figure 11 illustrates the process by which the activation or deactivation of a movement path for a logistics robot according to one embodiment of the present invention is controlled. Referring to Figure 11, a movement area 1103 is shown, located between a first process area 1101 and a second process area 1102. In this case, the process direction can be from the first process area 1101 to the second process area 1102. For example, assuming that the operational boundary is an automobile factory, when a transporting AGV carrying a vehicle chassis moves across the movement area 1103 from the first process area 1101 to the second process area 1102, the PLC on the production equipment 120 side can inform the control device 140 of this and request the deactivation of the movement area 1103. In this case, if the condition that the occupancy limit count of the movement area 1103 is satisfied by the movement of the AGV is considered together with the PLC signal and set as the area rule change condition for the movement area 1103, an interlock function can be substantially realized.

[0099] In contrast, the control device 140 can activate a deactivated mobile area 1103 so that the logistics robot A can enter the mobile area 1103 when it determines, based on information about the process status, that the processes in the first process area 1101 and the second process area 1102 are not being performed. On the other hand, the present invention described above can be embodied as computer-readable code on a medium on which a program is recorded. Computer-readable media include all types of recording devices on which data to be read by a computer system is stored. 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, optical data storage devices, etc. Therefore, the detailed description described above 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 included within the scope of the present invention. [Explanation of symbols]

[0100] 110 Logistics Robots 111-1 Drive wheels 112 Sensing Unit 113 Loading section 113-1 Guide 801 Moving area 802 Moving area 810 Predetermined area 1010 Moving area 1010' Slave Lane 1020 Moving area 1030 Moving area 1101 1st process area 1102 2nd process area 1103 Moving area A, B, C, D Logistics robots TZ Traffic Zone

Claims

1. A method for controlling a logistics robot operating within a predetermined operational boundary, The steps include setting a region rule that includes a direction of movement for at least one movable region that can be variably set within the said operational boundary, A step of determining whether to change the area rules of a moving area related to a predetermined area based on state information including at least one of the following: information on the number of logistics robots occupying a predetermined area within the operational boundary, information on the process state within the operational boundary, and mission information for the logistics robots. A method for controlling a logistics robot, comprising the step of setting a route for the logistics robot between a departure point and a destination point according to the mission information of the logistics robot, based on the area rules that reflect the aforementioned decision.

2. The aforementioned predetermined area is, A method for controlling a logistics robot according to claim 1, which corresponds to the moving area or a predetermined zone including at least a portion of the moving area.

3. The aforementioned territory rule is, A method for controlling a logistics robot according to claim 1, comprising at least one of the following: whether or not the moving area is activated, or the direction in which the moving area can move.

4. The aforementioned territory rule is, A method for controlling a logistics robot according to claim 3, further comprising at least one of the following: center offset of a virtual roadway, whether or not to wait before entering, position, size, and deceleration of the logistics robot within the virtual roadway.

5. The step further includes setting a limit on the number of logistics robots that can occupy the predetermined area, The aforementioned decision-making step is: A method for controlling a logistics robot according to claim 1, comprising the step of changing the area rules of a moving area related to a predetermined area when the number of logistics robots occupying the area reaches the occupancy limit.

6. A method for controlling a logistics robot according to claim 5, further comprising the step of generating a detour route in accordance with the modified area rules when determining the generation of a detour route due to the reaching of the aforementioned occupancy limit.

7. The step of setting the aforementioned limit on the number of occupants is: This includes the step of setting multiple status-specific occupancy limits based on the state of each of the aforementioned logistics robots. The aforementioned step of modification is: A method for controlling a logistics robot according to claim 5, which is performed when any of the above-mentioned limit on the number of occupations for each state is met.

8. The status of each of the aforementioned logistics robots is as follows: A method for controlling a logistics robot according to claim 7, comprising at least one of the following: normal state, error state, presence or absence of load, type of load when loaded, and specific mission execution state.

9. The information regarding the number of logistics robots occupied is as follows: A method for controlling a logistics robot according to claim 1, which is determined by taking into consideration at least one of the following: the direction of movement of each logistics robot located within the movement area, its position within the movement area, and its speed.

10. A control device for controlling a logistics robot operating within a predetermined operational boundary, A map management unit sets area rules including the direction of movement for at least one movement area that can be variably set within the aforementioned operational boundary, A control device comprising: a work schedule management unit that determines whether or not to change the area rules of a moving area related to a predetermined area based on state information including at least one of information regarding the number of logistics robots occupied in a predetermined area within the operational boundary, mission information for the logistics robots, and process status information; and sets a route for the logistics robots between the departure point and destination based on the mission information for the logistics robots, based on the area rules that reflect the decision.

11. The aforementioned predetermined area is, The control device according to claim 10, which corresponds to a predetermined zone including the moving area or at least a portion of the moving area.

12. The aforementioned territory rule is, The control device according to claim 10, comprising at least one of the following: whether or not the moving region is activated, or the direction in which the moving region can move.

13. The aforementioned territory rule is, The control device according to claim 12, further comprising at least one of the following: center offset of the virtual roadway, whether or not to wait before entering, position, size, and deceleration of the logistics robot within the virtual roadway.

14. The aforementioned map management unit, A limit is set on the number of logistics robots that can occupy the predetermined area. The aforementioned work schedule management unit, The control device according to claim 11, which changes the area rules of the movement area related to the predetermined area when the number of logistics robots occupying the area reaches the occupancy limit.

15. The aforementioned work schedule management unit, The control device according to claim 14, which, when determining the generation of a detour route due to the reaching of the aforementioned occupancy limit, generates the detour route in accordance with the modified area rules.

16. The aforementioned map management unit, Multiple status-specific occupancy limits are set for each of the aforementioned logistics robots based on their respective states. The aforementioned work schedule management unit, The control device according to claim 14, which changes the area rules for the movement area associated with the predetermined area when any of the above-mentioned multiple state-specific occupancy limits are met.

17. The status of each of the aforementioned logistics robots is as follows: The control device according to claim 16, comprising at least one of the following: normal state, error state, presence or absence of load, type of load when loaded, and specific mission execution state.

18. The information regarding the number of logistics robots occupied is as follows: The control device according to claim 10, which is determined by taking into consideration at least one of the following: the direction of movement of each logistics robot located within the movement area, its position within the movement area, and its speed.

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