Logistics system and control device therefor

Abstract

Disclosed are a logistics system and a control device therefor, the system comprising: a map management unit for setting at least one region within an operation boundary as a region of interest on the basis of map information corresponding to a preset operation boundary; and a monitoring unit for determining whether a logistics robot has entered the set region of interest, and instructing that the logistics robot adjusts the adjacent recognition range thereof on the basis of the determination result of whether entering has occurred.

Description

Logistics system and its control device

[0001] The present invention relates to a logistics system and a control device thereof that enable a logistics robot to move efficiently within an operational boundary.

[0002]

[0003] Logistics robots are being introduced not only in general logistics warehouses and factories, but also in smart factories that manufacture products with different specifications using various parts, to ensure flexible and efficient supply and transport of parts.

[0004] Logistics robots are a general term for autonomous mobile robots (AMRs) and automated guided vehicles (AGVs), and these logistics robots can move and perform tasks under the control of a control device.

[0005] In a smart factory, logistics robots can move along optimal paths based on path planning to perform missions assigned by control devices.

[0006] Meanwhile, collisions between multiple logistics robots can occur as they move along their respective paths. Collisions between logistics robots can not only cause damage to the robots themselves, but also delay the process, resulting in significant losses for the entire process.

[0007] To prevent such damage, measures such as controlling the logistics robot to slow down or take evasive action when it approaches another object can be applied. However, there may be cases where a collision does not actually occur even when the logistics robot approaches another object. In such cases, the robot's movement efficiency may be reduced due to the control measures, such as slowing down or taking evasive action, intended to prevent collisions.

[0008]

[0009] The matters described as background technology above are only intended to enhance understanding of the background of the present invention, and should not be taken as an admission that they correspond to prior art already known to those skilled in the art.

[0010]

[0011] The purpose of the present invention is to provide a logistics system and its control device that enable a logistics robot to move efficiently by adjusting the peripheral recognition range, which serves as a collision prediction judgment criterion for the logistics robot, based on map information about the operational boundary, thereby ensuring the efficiency of the logistics system.

[0012]

[0013] The tasks of the present invention are not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art from the description below.

[0014]

[0015] According to one embodiment of the present invention for realizing the above-described task, a control device includes a map management unit that sets at least one section within a preset operation boundary as a section of interest based on map information corresponding to the preset operation boundary; and a monitoring unit that determines whether a logistics robot has entered the preset section of interest and instructs the logistics robot to adjust its surrounding recognition range based on the result of the determination of whether or not it has entered.

[0016] According to one embodiment of the present invention for realizing the above-described task, a logistics system includes: a logistics robot that moves within a preset operational boundary and detects an object within a peripheral recognition range through an equipped sensor; and a control device that sets at least one section within the operational boundary as a section of interest based on map information corresponding to the operational boundary, determines whether the logistics robot has entered the at least one section of interest, and instructs to adjust the peripheral recognition range based on a result of the determination of whether the logistics robot has entered.

[0017] According to one embodiment of the present invention for realizing the above-described task, a logistics system includes: a logistics robot that moves within a preset operating boundary and detects an object within a peripheral recognition range through an equipped sensor; and a control device that sets at least one section within the operating boundary as a section of interest based on map information corresponding to the operating boundary and transmits the section of interest to the logistics robot, wherein the logistics robot determines whether it has entered the section of interest and adjusts the peripheral recognition range based on a result of the determination of whether it has entered.

[0018]

[0019] According to various embodiments of the present invention as described above, collision avoidance control of a logistics robot can be efficiently performed by adjusting the peripheral recognition range, which serves as a collision prediction criterion, by reflecting the characteristics of each section within the operating boundary.

[0020] In particular, in cases where the risk of collision is low, the peripheral recognition range can be reduced to prevent unnecessary collision avoidance control from being performed and slowing down the logistics robot, thereby improving the movement efficiency of the logistics robot.

[0021] Additionally, in cases where the risk of collision is high, the range of surrounding awareness can be expanded, effectively preventing collisions between logistics robots while improving their movement efficiency.

[0022] Furthermore, by improving the movement efficiency of logistics robots, the efficiency of the logistics system to which logistics robots are applied can be improved.

[0023]

[0024] The effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention belongs from the description below.

[0025]

[0026] FIG. 1 is a block diagram showing an example of an operational boundary configuration of a logistics system that can be applied to embodiments of the present invention.

[0027] FIG. 2 is a block diagram showing an example of a control device configuration that can be applied to embodiments of the present invention.

[0028] FIG. 3 is a block diagram showing an example of a logistics robot configuration that can be applied to embodiments of the present invention.

[0029] FIGS. 4A to 4D are drawings for explaining adjustment of the peripheral recognition range according to embodiments of the present invention.

[0030] Figures 5 and 6 are sequence diagrams of a logistics system according to embodiments of the present invention.

[0031]

[0032] Specific structural and functional descriptions of the embodiments of the present invention disclosed in this specification or application are merely illustrative for the purpose of explaining the embodiments according to the present invention, and the embodiments according to the present invention may be implemented in various forms and should not be construed as limited to the embodiments described in this specification or application.

[0033] Since embodiments of the present invention can be modified in various ways and take various forms, specific embodiments are illustrated in the drawings and described in detail in this specification or application. However, this is not intended to limit embodiments of the present invention to specific disclosed forms, and it should be understood that all modifications, equivalents, and alternatives fall within the spirit and technical scope of the present invention.

[0034] In the description of the following embodiments, the term "pre-set" means that when a parameter is used in a process or algorithm, the value of the parameter is predetermined. Depending on the embodiment, the value of the parameter may be set when the process or algorithm starts or may be set during the execution of the process or algorithm.

[0035] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and shall not be construed in an idealized or overly formal sense unless explicitly defined herein.

[0036] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components are given the same reference numbers and redundant descriptions thereof will be omitted.

[0037] The suffixes "module" and "part" used for components in the following description are given or used interchangeably only for the convenience of writing specifications, and do not have distinct meanings or roles in themselves.

[0038] In describing the embodiments disclosed in this specification, detailed descriptions of related known technologies will be omitted if it is determined that such detailed descriptions may obscure the gist of the embodiments disclosed in this specification. In addition, the attached drawings are provided solely to facilitate understanding of the embodiments disclosed in this specification, and the technical concepts disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included within the spirit and technical scope of the present invention.

[0039] Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another.

[0040] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0041] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0042] In this specification, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0043] The controller may include a communication device that communicates with other controllers or sensors to control the function in charge, a memory that stores operating system or logic commands and input / output information, and one or more processors that perform judgments, calculations, decisions, etc. necessary for controlling the function in charge.

[0044]

[0045] First, the configuration of the operational boundary in which the logistics robot according to the embodiment is deployed and operated is explained with reference to Fig. 1.

[0046] Referring to FIG. 1, the operating boundary (100) may include a logistics robot (110), equipment (120), a monitoring device (130), and a control device (140).

[0047] The operational boundary (100) may be equipped with multiple logistics robots (110), multiple facilities (120), and multiple detection devices (130) depending on the production process and target production speed of the product. The operational boundary (100) may be implemented as a smart factory, and the multiple facilities may be implemented as production devices, but this is not necessarily limited to this. Each component is described below.

[0048] First, the logistics robot (110) may include an autonomous mobile robot (hereinafter, referred to as "AMR" for convenience) and an automated guided vehicle (hereinafter, referred to as "AGV" for convenience). Depending on the operation policy of the logistics robot (110) in the operation boundary (100), only one type of AGV or AMR may be operated, or both AGV and AMR may be operated together within the operation boundary (100).

[0049] AGVs generally perform required actions (movement, direction change, stop, etc.) within the operating boundary (100) by recognizing and following guidance devices placed on the floor for guidance of the AGV. Here, guidance devices may refer to optically recognizable markers (spots, 2D codes, etc.), tags that can be recognized contactlessly at close range (e.g., NFC tags, RFID tags, etc.), magnetic strips, wires, etc., but these are examples and are not necessarily limited thereto. Guidance devices may be placed continuously on the floor or may be placed discontinuously and spaced apart from each other. Since AGVs fundamentally perform operations by recognizing and following guidance devices, they require guidance devices to be installed in advance before operation. Therefore, when moving the AGV to a new path or modifying an existing path, the guidance devices must be physically installed or modified. In addition, since AGVs do not deviate from the path set by the guidance devices, if an obstacle is detected on or around the path, the AGV typically stops until the detected obstacle disappears or separate control is applied. In the operation of AGV, the control device (140) must control the AGV based on the guidance equipment, so commands such as 'drive until the third marker is recognized' or 'change the heading direction by 90 degrees when the third marker is recognized' from the current location can be transmitted to the AGV as individual command units or mission units (e.g., recovery, supply, charging, patrol, etc.) including multiple commands.

[0050] AMR can determine its current location by sensing its surroundings (i.e., positioning), and its ability to perform path planning using positioning and a map is what most distinguishes it from AGVs. Therefore, if a map with compatible coordinates is shared between the AMR and the control device (140), the control device (140) can control the AMR by instructing the AMR on a path based on the coordinates. In addition, if an obstacle is detected while driving, the AMR can set an avoidance path on its own, avoid the obstacle, and then return to the original path. The function of the control device (140) setting the path of the AMR to one or more transit coordinates can be referred to as global path planning, and the function of the AMR setting a movement path or an avoidance path between transit coordinates according to the global path planning can be referred to as local path planning.

[0051]

[0052] Next, the equipment (120) may refer to, for example, a device (robot arm, conveyor belt, etc.) that performs a production process of a product within an operation boundary (100), and in a broader sense, may refer to a device arranged to assist in the performance of a mission, such as entry and exit of a logistics robot (110), when the production process is performed by a person. A device arranged to assist in the performance of a mission may be, but is not necessarily limited to, a device that detects the status of a designated location where a pallet carried by a logistics robot (110) can be put down or collected within an area where a specific production process is performed, a device that determines the progress of the process, a means for blocking entry and exit within an area, etc.

[0053] For example, the facility (120) is controlled through a PLC (Programmable Logic Controller) and can communicate with a control device (140) in relation to the process progress.

[0054] The monitoring device (130) can perform a function of acquiring information for determining the situation within the operating boundary (100) and transmitting the information to the control device (140). For example, the monitoring device (130) may include a camera, a proximity sensor, etc., but is not necessarily limited thereto.

[0055] The control device (140) can communicate with the aforementioned components (110, 120, 130) to obtain information necessary for the operation of the operation boundary (100) or control each component. For example, the control device (140) can perform dispatching of the logistics robot (110), route setting, mission assignment, process management by product, material management, etc.

[0056] In implementation, the control device (140) may include a local control device (ACS: AMR / AGV Control System) that controls surrounding process facilities based on the location 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 may perform status and route, logistics flow setting, and traffic control of all logistics robots (110) within the operation boundary (100) from each of a plurality of local control devices. For example, when the local control device (ACS) is equipped in units of logistics robots of the same manufacturer or the same model, the integrated control device may perform integrated control for collision prevention, such as bottleneck level analysis of intersection / overlapping areas, driving acceleration / deceleration control, and regeneration of avoidance paths, through traffic distribution control between heterogeneous types based on information acquired through a plurality of local control devices (ACS).

[0057] In addition, the integrated control device can have a manufacturing execution system (MES) as its upper control subject, and the manufacturing execution system (MES) can be linked to an automated scheduler (APS: Advanced Planning & Scheduling).

[0058] In addition to the configuration (110, 120, 130, 140) of the operation boundary (100) described above, it goes without saying that devices for mutual communication between each component, such as beacons, repeaters, APs (Access Points), chargers for charging logistics robots (110), loading spaces for storing or loading parts, spaces for storing finished or intermediate products, traffic lights, circuit breakers, waiting spaces for idle logistics robots (110), etc., can be appropriately placed within the operation boundary (100).

[0059] Below, the configuration of a control device (140) that can be applied to embodiments of the present invention is described with reference to FIG. 2.

[0060]

[0061] FIG. 2 is a block diagram illustrating an example of a control device configuration applicable to embodiments of the present invention. Each component illustrated in FIG. 2 primarily represents components related to embodiments of the present invention, and in the actual implementation of the control device (140), more or fewer components may be included.

[0062] Referring to FIG. 2, the control device (140) may include a firmware management unit (141), a traffic control unit (142), a process management unit (143), a production / logistics management unit (144), an inventory management unit (145), a communication unit (146), a monitoring unit (147), a map management unit (148), and a work schedule management unit (149).

[0063] The firmware management unit (141) can obtain the latest firmware of the logistics robot (110) through the communication unit (146) and transmit it to the logistics robot (110) to perform a firmware update, thereby keeping the firmware of the logistics robot (110) up to date.

[0064] The traffic control unit (142) controls traffic lights and barriers based on the route of the logistics robot (110), and can also recalculate the route of the logistics robot (110) according to traffic.

[0065] The process management department (143) can define the process for each product and manage missions such as process progress and progress location.

[0066] The production / logistics management department (144) can dispatch logistics robots (110) based on missions.

[0067] 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 the destination earlier than the time when actual assembly / consumption of materials is detected for pallet pickup or retrieval.

[0068] The communication unit (146) can communicate with internal components of the operation boundary (100), such as a logistics robot (110), equipment (120), and a monitoring device (130), as well as external entities, such as a firmware update server.

[0069] The monitoring unit (147) can monitor the location, route, battery status, communication status, power train status, etc. of individual logistics robots (110). Here, the route is a concept that includes a waypoint-based global route and a real-time local route. In addition, the battery status may include voltage, current, temperature, peak voltage and current, state of charge (SOC), state of health (SOH), etc. The communication status may include information on the currently activated communication protocol (such as Wi-Fi), connected AP, distance to the AP, channel in use, etc. In addition, the power train status may include the load, temperature, RPM, etc. of the drive system.

[0070] In addition, the monitoring unit (147) can also check the mission, operation mode, firmware version, etc. currently assigned to each logistics robot (110).

[0071] The map management unit (148) obtains map information in the form of a grid map obtained when an AMR among logistics robots (110) drives within the operation boundary (100), and may provide a tool that allows a factory manager to edit the obtained map information. By editing the map information, a zone, a virtual lane, an intersection, a no-entry zone, etc., in which one or more preset actions are performed when the logistics robot (110) enters, may be set, but this is merely an example and is not necessarily limited thereto. In addition, the map management unit (148) may distribute the corresponding map to the remaining logistics robots (110) other than the logistics robot (110) that obtained the initial grid map through actual driving, through the communication unit (146).

[0072] The work schedule management unit (149) can manage and monitor the mission of the logistics robot (110) based on the process information of the operation boundary (100) received from the equipment (120) and the monitoring device (130) through the communication unit (146). In addition, the work schedule management unit (149) can select a specific logistics robot (110) and assign a mission, and set the global route of the logistics robot (110) according to the assigned mission.

[0073]

[0074] Meanwhile, in one embodiment of the present invention, the map management unit (148) can set at least one section within the operation boundary (100) as a section of interest based on map information corresponding to the operation boundary (100).

[0075] In this case, the map information may include the location of each section within the operating boundary (100), the number of fixed objects in each section, the width of the path along which the logistics robot (110) moves in each section, the number of times the objects move in each section, the set speed of the logistics robot in each section, and the type of objects in each section.

[0076] Additionally, information about the facility (120), such as facility logistics release information, may be reflected in the map information, and information about the facility (120) may be obtained from the facility (120) through the communication unit (146).

[0077] The map management unit (148) sets the area of ​​interest based on the above map information, thereby allowing the characteristics of each area within the operating boundary to be reflected in the adjustment of the surrounding recognition range of the logistics robot (110).

[0078] The monitoring unit (147) can determine whether the logistics robot (110) has entered the set area of ​​interest, and can instruct the logistics robot (110) to adjust its surrounding recognition range based on the result of the determination of whether or not it has entered.

[0079] More specifically, the monitoring unit (147) can determine whether the logistics robot (110) has entered a section of interest within the operation boundary (100) based on the location of each section within the operation boundary (100) and the location of the logistics robot (110). Here, the location of each section within the operation boundary (100) can be included in the map information as described above, and the location of the logistics robot (110) can be obtained from the logistics robot (110) or from the monitoring device (130).

[0080] In addition, the monitoring unit (147) can instruct the logistics robot (110) to adjust its surrounding recognition range by transmitting a control signal corresponding to the result of the determination of whether or not to enter to the logistics robot (110).

[0081] In this case, the control signal can be output through the communication unit (146) of the control device (140), and the logistics robot (110) that receives the output control signal can perform adjustment of the surrounding recognition range.

[0082] Meanwhile, the area of ​​interest may include multiple areas, and may include at least a first area of ​​interest and a second area of ​​interest. In this case, the monitoring unit (147) may instruct the logistics robot (110) to adjust its surrounding recognition range when it enters the area of ​​interest, but may instruct the surrounding recognition range to be adjusted differently depending on which of the multiple areas of interest the logistics robot (110) has entered.

[0083] More specifically, the monitoring unit (147) may instruct the logistics robot (110) to reduce its surrounding recognition range at least in one direction when it enters the first area of ​​interest. In this case, the first area of ​​interest may be set by considering at least one of the positions of fixed objects in each area and the width of the path along which the logistics robot (110) moves in each area.

[0084] Alternatively, the monitoring unit (147) may expand the surrounding recognition range at least in one direction when the logistics robot (110) enters the second interest area. In this case, the second interest area may be set by considering at least one of the number of movements of other objects in each area, the set speed of the logistics robot (110) in each area, and the type of other objects in each area.

[0085] In addition, the monitoring unit (147) can instruct the logistics robot (110) that has entered the area of ​​interest to readjust the surrounding recognition range to before adjustment if it leaves the area of ​​interest.

[0086] More detailed information regarding adjustment of the peripheral recognition range will be described later with reference to FIGS. 4a and 4b, and next, the logistics robot will be described first with reference to FIG. 3.

[0087]

[0088] FIG. 3 is a block diagram showing an example of a logistics robot configuration that can be applied to embodiments of the present invention.

[0089] Referring to FIG. 3, the logistics robot (110) may include a driving unit (111), a sensing unit (112), a loading unit (113), a communication unit (114), and a control unit (115). Each component is described below.

[0090] The driving unit (111) may include a driving source, wheels, suspension, etc. involved in the movement, steering, and stopping of the logistics robot (110). The driving source may be an electric motor supplied with power from a built-in battery (not shown). The wheels may include one or more driving wheels that receive driving force from the driving source, and non-driving wheels that rotate by the movement of the vehicle body without receiving driving force. Depending on the implementation, when multiple driving wheels are provided, the driving source may be matched to each driving wheel so that the rotation of each driving wheel can be independently controlled. In this case, by making the rotation directions of different driving wheels different, the vehicle body can be rotated and steering can be performed without a separate steering means. At least some of the non-driving wheels may be configured as caster-type wheels, but this is exemplary and is not necessarily limited thereto.

[0091] The sensing unit (112) is for detecting the surrounding environment of the logistics robot (110) or its own operating status, and may include at least one of a 2D laser scanner (e.g., LiDAR), a 3D vision (stereo) camera, a multi-axis gyro sensor, an acceleration sensor, a wheel encoder, and a proximity sensor.

[0092] An encoder can output information that can determine how much the wheel has rotated by using light emitted from a light-emitting element (e.g., a photodiode). For example, the encoder can count the number of slits arranged along the circumference of the wheel or a disk rotating with the wheel per unit time. The control unit (115) can perform odometry, which estimates displacement by analyzing the amount of position change over time using data acquired through the encoder and gyro sensor. However, there may be an error between the estimated displacement based on the encoder data and the actual displacement due to wheel slip or wear (change in diameter along with the wheel). Therefore, when performing odometry, the control unit (115) can perform noise and error correction on the information collected from the wheel and gyro sensor using a predetermined algorithm (e.g., EKF: Extended Kalman Filter) to output a result that tends to be close to the actual value. This odometry can be particularly useful when localization using a 2D laser scanner, as described later, is not possible.

[0093] 2D laser scanners scan their surroundings by projecting laser light onto a rotating reflector and detecting the reflected signal. By analyzing the intensity of the reflected signal and the time difference between the projection and reception, they can output detection results in the form of a point cloud.

[0094] A 3D vision camera can calculate the distance to an object based on the parallax between two cameras spaced a certain distance apart, i.e., the pixel distance between the images captured by each camera. A texture projector that projects infrared light in a predetermined pattern may also be included to enable detection of objects of the same color, such as flat surfaces (e.g., white walls).

[0095] Typically, 2D laser scanners are used for mapping, navigation, object recognition, etc., and 3D cameras can be used for navigation, especially for obstacle avoidance, but these are examples and are not necessarily limited to this.

[0096] The loading section (113) is a means for loading items to be transported, and may be a top plate on the upper part of the vehicle body itself, a table placed on the top plate, a lift, a turntable rotating along a vertical axis, a forklift, a conveyor, or a combination thereof. Similar to a forklift, a forklift may also support telescopic and tilting functions.

[0097] The communication unit (114) can communicate with other components within the operation boundary (100), such as equipment (120) and control devices (140), and can also support communication between logistics robots (110), and can also communicate with a charger when performing a charging mission.

[0098] The control unit (115) is a subject that performs overall control of each of the aforementioned components (111, 112, 113, 114), and can perform current mission, current location, destination determination, route planning, load control, etc. based on information obtained from the control device (140) through the communication unit (114).

[0099]

[0100] Meanwhile, in one embodiment of the present invention, the logistics robot (110) can detect an object within the surrounding recognition range through the equipped sensor, and in this case, the equipped sensor can be included in the sensing unit (112).

[0101] The surrounding recognition range is recognized through sensors and can serve as a criterion for determining collision prediction of the logistics robot (110). For example, if another object exists within the surrounding recognition range, the logistics robot (110) can predict a collision.

[0102] If a collision is predicted due to the presence of another object within the surrounding recognition range, the logistics robot (110) can prevent the collision by adjusting its driving speed, such as by slowing down, making an emergency stop, or performing an evasive drive.

[0103] In particular, the surrounding recognition range may include multiple ranges that do not overlap each other, and the logistics robot (110) may adjust its driving speed differently depending on which range of the multiple ranges an object exists in.

[0104] In this case, the plurality of ranges may include a first range and a second range located outside the first range, and the logistics robot (110) may further reduce its driving speed when an object is present in the first range compared to when an object is present in the second range.

[0105] The logistics robot (110) can adjust the surrounding recognition range according to the instructions of the control device (140), and the adjustment of the surrounding recognition range can be performed, for example, by adjusting the detection distance of the sensor itself or adjusting the range of detection information used for surrounding recognition among the detection information through the sensor.

[0106] FIGS. 4A to 4D are drawings for explaining adjustment of the peripheral recognition range according to embodiments of the present invention.

[0107] First, referring to FIG. 4a, an example of a virtual map screen implemented based on map information is shown. The virtual map screen may be implemented to correspond to at least a portion of the operational boundary (100). Furthermore, the virtual map screen may include an indication of a logistics robot (110), and may also include indications of other objects, such as other equipment (120).

[0108] Hereinafter, an example of a process in which a logistics robot (110) departs from a starting point (A) and passes through a first section of interest (C1) to reach a destination (B) is described. Here, at least one of the starting point (A) and the destination (B) may correspond to a facility (120) within an operating boundary (100).

[0109] In the process of the logistics robot (110) leaving the starting point (A) and moving to the first area of ​​interest (C1), the map management unit (148) can display the surrounding recognition range (V) of the logistics robot (110) on the virtual map.

[0110] When the logistics robot (110) moves and enters the first section of interest (C1), the surrounding recognition range (V) can be reduced at least in one direction, and in this case, a narrow section of the path along which the logistics robot (110) moves can be set as the first section of interest (C1).

[0111] When the path along which the logistics robot (110) moves is narrow, other objects may be located close to the logistics robot (110) in terms of distance, but since the risk of collision is low as long as the logistics robot (110) moves along a set path, in this case, by reducing the peripheral recognition range (V), the logistics robot (110) can continue to move without slowing down or detouring along the path.

[0112] Meanwhile, as the logistics robot (110) moves to the destination (B) after passing through the first interest area (C1), the width of the movement path increases again, so the surrounding recognition range (V) can be readjusted back to the pre-adjustment state. As a result of the readjustment, the surrounding recognition range (V) can be expanded again, and as the surrounding recognition range (V) is expanded, collision prediction of the logistics robot (110) can be performed according to the default settings.

[0113]

[0114] Meanwhile, when the logistics robot (110) enters the second area of ​​interest (C2), the surrounding recognition range (V) may be expanded at least one-way. In this case, an area with a high number of movements by other objects may be designated as the second area of ​​interest (C2). Here, other objects may include people such as workers moving within the operating boundary (100), other logistics robots (110), production robots, etc.

[0115] In this case, since the movement of other objects is frequent in the second interest area (C2), the risk of collision with the logistics robot (110) may be relatively high. Therefore, by expanding the peripheral recognition range (V), collision with the logistics robot (110) can be more reliably prevented.

[0116] In particular, as the peripheral recognition range (V) expands, it is possible to prevent further deterioration of the movement efficiency of the logistics robot (110) by controlling the logistics robot (110) by predicting a collision in advance and slowing it down, and by stopping the logistics robot (110) in an emergency just before the collision, as well as preventing the collision of the logistics robot (110).

[0117]

[0118] Next, Fig. 4b can be assumed to represent another part of the virtual map screen shown in Fig. 4a, and represents a virtual map screen for the process in which a logistics robot (110) moves from a starting point (A) to a destination (B) via a first section of interest (C1).

[0119] Referring to FIG. 4b, the first interest section (C1) may be set in consideration of the location of a fixed object within the section, and for example, a section in which three or more fixed objects are located may be set as the first interest section (C1).

[0120] When there are a large number of fixed objects within a section, there may be a large number of fixed objects near the logistics robot (110), but the actual risk of collision may not be great because the fixed objects are present.

[0121] Accordingly, when the logistics robot (110) enters the first interest area (C1), the peripheral recognition range (V) can be reduced at least to one side, so that a collision is not predicted even when another object is relatively close to the logistics robot (110).

[0122] Meanwhile, the peripheral recognition range (V) may be divided into multiple non-overlapping ranges, for example, a first range (V1) and a second range (V2) located outside the first range (V1). In this case, the driving speed of the logistics robot (110) may be adjusted differently depending on whether the other object exists in the first range (V1) or the second range (V2).

[0123] In particular, considering that the risk of collision of the logistics robot (110) is greater when another object exists within the first range (V1) than when another object exists within the second range (V2), the driving speed of the logistics robot (110) may be reduced more when another object exists within the first range (V1) than when another object exists within the second range (V2).

[0124] Meanwhile, in the process of adjusting the peripheral recognition range (V), the first range (V1) and the second range (V2) may be adjusted together, or only one of the first range (V1) and the second range (V2) may be adjusted. In particular, when reducing the peripheral recognition range (V), the first range (V1) may be maintained as it is because it is a range with a high risk of collision, and only the second range (V2) may be reduced to prevent the movement of the logistics robot (110) from being unnecessarily hindered.

[0125]

[0126] Next, it can be assumed that Fig. 4c represents another part of the virtual map screen shown in Fig. 4a.

[0127] Referring to FIG. 4c, the second interest section (C2) may be set in consideration of the set speed of the logistics robot (110) in the corresponding section. For example, a section in which the logistics robot (110) moves at high speed may be set as the second interest section (C2), and in this case, the surrounding recognition range (V) may be expanded in the movement direction (e.g., forward) of the logistics robot (110).

[0128] In sections where the set speed of the logistics robot (110) is high, the logistics robot (110) moves at high speed, so the possibility of a collision increases even when another object is relatively far away from the logistics robot (110). Therefore, the peripheral recognition range (V) can be expanded in the direction of movement of the logistics robot (110) to enable early prediction of a collision.

[0129]

[0130] Next, it can be assumed that Fig. 4d represents another part of the virtual map screen shown in Fig. 4a.

[0131] Referring to Fig. 4d, the second interest zone (C2) may be set based on the type of other objects within the zone. For example, a zone with an openable door on one side may be set as the second interest zone (C2), in which case the surrounding recognition range (V) may expand in the direction of the door. Furthermore, if a fixed other object exists on the opposite side of the door, the surrounding recognition range (V) may expand in the direction of the door, but may also contract in the opposite direction.

[0132] Below, the control process of the logistics system will be sequentially explained with reference to FIGS. 5 and 6.

[0133] Figures 5 and 6 are sequence diagrams of a logistics system according to embodiments of the present invention.

[0134] Referring to FIG. 5, the control device (140) can receive facility logistics delivery information from the facility (120) (S510), and can set an area of ​​interest by reflecting the received facility logistics delivery information in map information (S520).

[0135] In addition, the control device (140) can receive the current location from the logistics robot (110) (S530), and based on the received location of the logistics robot (110), can determine whether the logistics robot (110) has entered the section of interest within the operation boundary (100) (S540).

[0136] When a logistics robot (110) enters an area of ​​interest within an operating boundary (100), the control device (140) can instruct the robot to adjust the surrounding recognition range by outputting a command to adjust the surrounding recognition range (S550).

[0137] A logistics robot (110) that has received a command to adjust the surrounding recognition range can adjust the surrounding detection range according to the command (S560).

[0138]

[0139] *

[0140] Referring to FIG. 6, as in FIG. 5, the control device (140) can receive facility logistics delivery information from the facility (120) (S610), and can set an area of ​​interest by reflecting the received facility logistics delivery information in map information (S620).

[0141] However, unlike what was explained with reference to FIG. 5, the control device (140) determines whether the movement path of the logistics robot (110) overlaps with the set section of interest (S630), and if the movement path of the logistics robot (110) overlaps with the set section of interest, the section of interest can be transmitted to the logistics robot (S640).

[0142] The logistics robot (110) that has received the area of ​​interest can determine whether it has entered the area of ​​interest by itself (S650), and if it has entered the area of ​​interest, it can adjust the surrounding recognition range (S660).

[0143]

[0144] According to various embodiments of the present invention as described above, collision avoidance control of a logistics robot can be efficiently performed by adjusting the peripheral recognition range, which serves as a collision prediction criterion, by reflecting the characteristics of each section within the operating boundary.

[0145] In particular, by reducing the peripheral recognition range in cases where the risk of collision is low, it is possible to alleviate unnecessary collision avoidance control and improve the movement efficiency of logistics robots.

[0146] Additionally, in cases where the risk of collision is high, collision avoidance control can be performed while securing the movement efficiency of the logistics robot by expanding the surrounding recognition range.

[0147]

[0148] Although the present invention has been illustrated and described with respect to specific embodiments thereof as described above, it will be apparent to those skilled in the art that the present invention may be variously improved and modified without departing from the technical spirit of the present invention as defined by the following claims.

Claims

1. A map management unit that sets at least one section within the operation boundary as a section of interest based on map information corresponding to the preset operation boundary; and A control device including a monitoring unit that determines whether a logistics robot has entered the above-described set area of ​​interest and instructs adjustment of the surrounding recognition range of the logistics robot based on the result of the determination of whether or not the logistics robot has entered.

2. In claim 1, The above area of ​​interest is, Containing at least a first interest interval and a second interest interval, The above monitoring unit, A control device characterized in that, when the logistics robot enters the above-mentioned area of ​​interest, the surrounding recognition range is instructed to be adjusted, and the surrounding recognition range is adjusted differently depending on which of the first area of ​​interest and the second area of ​​interest the logistics robot entered.

3. In claim 2, The above monitoring unit, A control device characterized in that, when the logistics robot enters the first area of ​​interest, it instructs to reduce the peripheral recognition range to at least one side.

4. In claim 3, The above map information is, Including at least one of the position of a fixed object for each section within the above-mentioned operating boundary and the width of a path along which the logistics robot moves for each section within the above-mentioned operating boundary, The above map management department, A control device characterized in that the first interest region is set based on at least one of the position of the fixed object and the width of the path.

5. In claim 2, The above monitoring unit, A control device characterized in that, when the logistics robot enters the second area of ​​interest, it instructs to expand the peripheral recognition range at least in one direction.

6. In claim 5, The above map information is, Including at least one of the number of movements of an object in each section within the above-mentioned operation boundary, the set speed of a logistics robot in each section within the above-mentioned operation boundary, and the type of an object in each section within the above-mentioned operation boundary; The above map management department, A control device characterized in that it sets the second interest section based on at least one of the number of movements, the set speed, and the type.

7. In claim 1, The above monitoring unit, A control device characterized in that, when the logistics robot that entered the above-mentioned area of ​​interest leaves the above-mentioned area of ​​interest, it instructs to readjust the surrounding recognition range to the previous state of adjustment.

8. A logistics robot that moves within a preset operational boundary and detects objects within the surrounding recognition range through equipped sensors; and A logistics system including a control device that sets at least one section within the operation boundary as a section of interest based on map information corresponding to the above-mentioned operation boundary, determines whether a logistics robot has entered the at least one section of interest, and instructs to adjust the surrounding recognition range based on the result of the determination of whether or not the entry has occurred.

9. In claim 8, The above logistics robot, A logistics system characterized by controlling the driving speed when another object exists within the above-mentioned peripheral recognition range.

10. In claim 9, The above peripheral recognition range is, Contains multiple non-overlapping ranges, The above logistics robot, A logistics system characterized in that the driving speed is adjusted differently depending on which range of the above-mentioned object exists among the plurality of ranges.

11. In claim 10, The above multiple ranges are: comprising a first range and a second range located outside the first range, The above logistics robot, A logistics system characterized in that the driving speed is further reduced when the object exists in the first range compared to when the object exists in the second range.

12. A logistics robot that moves within a preset operational boundary and detects objects within the surrounding recognition range through equipped sensors; and Based on map information corresponding to the above-mentioned operational boundary, a control device is included that sets at least one section within the above-mentioned operational boundary as a section of interest and transmits the section of interest to the logistics robot. The above logistics robot, A logistics system characterized by determining whether the above-mentioned area of ​​interest has been entered and adjusting the surrounding recognition range based on the result of the determination of whether the entry has been made.

13. In claim 12, The above logistics robot, A logistics system characterized by controlling the driving speed when another object exists within the above-mentioned peripheral recognition range.

14. In claim 13, The above peripheral recognition range is, Contains multiple non-overlapping ranges, The above logistics robot, A logistics system characterized in that the driving speed is adjusted differently depending on which range of the above-mentioned object exists among the plurality of ranges.

15. In claim 14, The above multiple ranges are: comprising a first range and a second range located outside the first range, The above logistics robot, A logistics system characterized in that the driving speed is further reduced when the object exists in the first range compared to when the object exists in the second range.

16. In claim 12, The above control device, A logistics system characterized in that, when the movement path of the logistics robot overlaps with the section of interest, the section of interest is transmitted to the logistics robot.

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