Smart logistics vehicle control method and control device

Abstract

Disclosed are a smart logistics vehicle control method and control device, the method including the steps of: controlling at least one smart logistics vehicle to move toward a location for identifying a destination corresponding to a plurality of candidate destinations related to a currently assigned mission; determining whether access is possible into at least one of the plurality of candidate destinations, when the smart logistics vehicle enters the location for identifying a destination during the movement of the smart logistics vehicle; and configuring a candidate destination that may be accessed among the plurality of candidate destinations as a final destination.

Description

Smart logistics vehicle control method and control device

[0001] The present invention relates to a smart logistics vehicle control method and control device that provide a movement path so that a smart logistics vehicle can move from a departure point to a selected destination.

[0002]

[0003] Recently, smart logistics vehicles 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, for the flexible and efficient supply and transport of parts.

[0004] Smart logistics vehicles are a general term for autonomous mobile robots (AMRs) and automated guided vehicles (AGVs). These smart logistics vehicles can move and perform tasks under the control of a control system.

[0005] For example, when a smart logistics vehicle performs a mission from a starting point to a destination, the control system can assess the destination's conditions and generate a route connecting the starting point and accessible destinations. Based on this route, the control system can control the smart logistics vehicle to complete its mission from the starting point to the destination.

[0006] However, even if a destination is determined to be accessible at the time of route generation, it may become inaccessible during the smart logistics vehicle's travel due to other smart logistics vehicles or process conditions. In this case, a smart logistics vehicle that arrived at the destination according to its original mission may not be able to complete its original mission due to the vehicle's inability to enter the destination. Furthermore, a smart logistics vehicle that remains in the vicinity of the destination without entering may encounter another smart logistics vehicle near the destination, potentially resulting in a deadlock.

[0007] Additionally, if the initially determined destination is inaccessible when generating a route, the route may not be generated, or another accessible destination may be determined and used to generate the route. In this case, the initially determined destination may change to accessible. Even if the destination changes to accessible, the smart logistics vehicle may remain in a waiting state at the departure point due to the inability to enter the initially determined destination, or may be forced to move to a destination other than the initially determined destination.

[0008] Therefore, there is a need to propose a method that allows smart logistics vehicles to perform their existing missions even when the conditions at the destination change while moving along the route connecting the origin and destination.

[0009]

[0010] 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.

[0011]

[0012] The present invention has been proposed to solve such problems, and is intended to provide a smart logistics vehicle control method and control device capable of determining in advance whether a smart logistics vehicle can enter a selected destination while moving from a departure point to the destination.

[0013]

[0014] The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0015]

[0016] A smart logistics vehicle control method according to the present invention for achieving the above object may include: a step of controlling at least one smart logistics vehicle to move toward a destination confirmation location corresponding to a plurality of candidate destinations related to a currently assigned mission; a step of determining whether entry into at least one of the plurality of candidate destinations is possible when the at least one smart logistics vehicle enters the destination confirmation location while moving; and a step of setting an enterable candidate destination among the plurality of candidate destinations as a final destination.

[0017]

[0018] In addition, a control device according to the present invention for achieving the above purpose may include a communication unit for performing communication with at least one smart logistics vehicle; and a route selection unit for controlling the at least one smart logistics vehicle to move toward a destination confirmation location corresponding to a plurality of candidate destinations related to a currently assigned mission, and determining whether entry into at least one of the plurality of candidate destinations is possible when the at least one smart logistics vehicle enters the destination confirmation location while moving, and setting an enterable candidate destination among the plurality of candidate destinations as a final destination.

[0019]

[0020] According to the above, the smart logistics vehicle control method and control device of the present invention can determine whether a smart logistics vehicle can enter a preset destination while moving from a departure point to a preset destination, and if it cannot enter the preset destination, change the destination to another destination that can enter while performing the same mission, thereby enabling the mission previously assigned to the smart logistics vehicle to be smoothly performed.

[0021]

[0022] 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.

[0023]

[0024] FIG. 1 is a block diagram showing an example of a smart factory configuration that can be applied to embodiments of the present invention.

[0025] FIG. 2 is a block diagram showing an example of a control device configuration that can be applied to embodiments of the present invention.

[0026] FIG. 3 is a block diagram showing an example of a smart logistics vehicle configuration that can be applied to embodiments of the present invention.

[0027] FIG. 4 is a perspective view showing an example of the exterior of a smart logistics vehicle that can be applied to embodiments of the present invention.

[0028] Figure 5 is a flowchart showing an example of a driving process of a smart logistics vehicle that can be applied to embodiments of the present invention.

[0029] Figure 6 is a block diagram for explaining the operation of a control device according to one embodiment of the present invention.

[0030] FIG. 7 is a drawing for explaining a situation in which a smart logistics vehicle determines a candidate destination according to one embodiment of the present invention.

[0031] FIG. 8 is a drawing for explaining a smart logistics vehicle control method according to one embodiment of the present invention.

[0032]

[0033] 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.

[0034] 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.

[0035] 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.

[0036] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0037] 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.

[0038] 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.

[0039] In addition, the term "Unit" or "Control Unit" included in the internal configuration names of smart logistics vehicles or control devices is merely a term widely used to name a control device (Controller) that controls a specific function, and does not mean a generic function unit. For example, each control device may include a modem / transceiver that communicates with other control devices or sensors to control the function it is responsible for, a memory that stores an operating system or logic commands and input / output information, and one or more processors that perform judgments, calculations, and decisions necessary for controlling the function it is responsible for. Depending on the implementation, one processor may be responsible for calculations for multiple control devices.

[0040]

[0041] First, the configuration of a smart factory in which smart logistics vehicles according to an embodiment are deployed and operated is described with reference to Fig. 1.

[0042] Figure 1 is a block diagram showing an example of a smart factory configuration that can be applied to embodiments.

[0043] Referring to FIG. 1, a smart factory (100) may include a smart logistics vehicle (110), a production device (120), a monitoring device (130), and a control device (140).

[0044] A smart factory (100) may be equipped with multiple smart logistics vehicles (110), multiple production devices (120), and multiple detection devices (130) depending on the production process and target production speed of the product. Each component is described below.

[0045] First, the smart logistics vehicle (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 operating policy of the smart logistics vehicle (110) in the smart factory (100), only one type of AGV or AMR may be operated, or both AGV and AMR may be operated together within a single smart factory (100).

[0046] AGVs generally perform required actions (movement, direction change, stop, etc.) within a smart factory (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, guidance devices must 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.

[0047] 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.

[0048] A more detailed configuration of a smart logistics vehicle (110) will be described later with reference to FIGS. 3 and 4, and the driving control process of the AMR will be described later with reference to FIG. 5.

[0049] Next, the production device (120) may refer to a device (e.g., a robot arm, a conveyor belt, etc.) that performs a production process of a product in a smart factory (100), and in a broader sense, may refer to a device arranged to assist in performing a mission, such as entry and exit of a smart logistics vehicle (110), when the production process is performed by a person. The device arranged to assist in performing 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 smart logistics vehicle (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.

[0050] For example, the production device (120) is controlled through a PLC (Programmable Logic Controller) and can communicate with a control device (140) in relation to the process progress.

[0051] The monitoring device (130) can perform a function of acquiring information for determining the situation within the smart factory (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.

[0052] The control device (140) can communicate with the aforementioned components (110, 120, 130) to obtain information necessary for the operation of the smart factory (100) or control each component. For example, the control device (140) can perform dispatching of smart logistics vehicles (110), route setting, mission assignment, process management by product, material management, etc.

[0053] 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 smart logistics robots (110) within the smart factory (100) from each of a plurality of local control devices. For example, when the local control device (ACS) is equipped in units of smart 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).

[0054] 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).

[0055] In addition to the configuration (110, 120, 130, 140) of the smart factory (100) described above, it goes without saying that devices for mutual communication between components such as beacons, repeaters, APs (Access Points), chargers for charging smart logistics vehicles (110), loading spaces for storing or loading parts, spaces for storing finished or intermediate products, traffic lights, circuit breakers, waiting spaces for idle smart logistics vehicles (110), etc. can be appropriately placed within the smart factory (100).

[0056] 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.

[0057] 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.

[0058] Referring to FIG. 2, the control device (140) may include a firmware management unit (141), a traffic control unit (142), a process management unit (143), a production / logistics management unit (144), an inventory management unit (145), a communication unit (146), a vehicle monitoring unit (147), and a map management unit (148).

[0059] The firmware management unit (141) obtains the latest firmware of the smart logistics vehicle (110) through the communication unit (146) and transmits it to the smart logistics vehicle (110) to perform a firmware update, thereby maintaining the firmware of the smart full-flow vehicle (110) up to date.

[0060] The traffic control unit (142) controls traffic lights and barriers based on the route of the smart logistics vehicle (110), and can also recalculate the route of the smart logistics vehicle (110) according to traffic.

[0061] The process management department (143) can define the process for each product and manage missions such as process progress and progress location.

[0062] The production / logistics management department (144) can dispatch smart logistics vehicles (110) based on missions.

[0063] The inventory management department (145) manages the location and quantity of each material, and this information can be useful for more efficient process operation, such as sending a smart logistics vehicle (110) to the destination earlier than the time when actual assembly / consumption of materials is detected for pallet pickup or retrieval.

[0064] The communication unit (146) can communicate with internal components of the smart factory (100), such as a smart logistics vehicle (110), a production device (120), and a monitoring device (130), as well as external entities, such as a firmware update server.

[0065] The vehicle monitoring unit (147) can monitor the location, route, battery status, communication status, power train status, etc. of individual smart logistics vehicles (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 load, temperature, RPM, etc. of the drivetrain.

[0066] In addition, the vehicle monitoring unit (147) can also check the mission, operation mode, firmware version, etc. currently assigned to each smart logistics vehicle (110).

[0067] The map management unit (148) may obtain map data in the form of a grid map obtained when an AMR among smart logistics vehicles (110) drives inside a smart factory (100), and may provide a tool that allows a factory manager to edit the obtained map data. By editing the map data, a zone, a virtual lane, an intersection, a no-entry zone, etc., in which one or more preset actions are performed when a smart logistics vehicle (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 smart logistics vehicles (110) other than the smart logistics vehicle (110) that initially obtained the grid map through actual driving, through the communication unit (146).

[0068] Next, a smart logistics vehicle will be described with reference to FIGS. 3 and 4.

[0069] FIG. 3 is a block diagram showing an example of a smart logistics vehicle configuration that can be applied to embodiments of the present invention.

[0070] Referring to FIG. 3, a smart logistics vehicle (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.

[0071] The driving unit (111) may include a driving source, wheels, suspension, etc. involved in the movement, steering, and stopping of the smart logistics vehicle (110). The driving source may be an electric motor that receives 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-driven 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-driven wheels may be configured as caster-type wheels, but this is exemplary and is not necessarily limited thereto.

[0072] The sensing unit (112) is for detecting the surrounding environment of the smart logistics vehicle (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.

[0073] 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, the displacement estimated based on the encoder data may have an error from 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.

[0074] 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.

[0075] 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).

[0076] 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.

[0077] 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.

[0078] The communication unit (114) can communicate with other components within the smart factory (100), such as the production device (120) and the control device (140), and can also support communication between smart logistics vehicles (110), and can also communicate with the charger when performing a charging mission.

[0079] 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).

[0080] FIG. 4 is a perspective view showing an example of the exterior of a smart logistics vehicle that can be applied to embodiments of the present invention.

[0081] Referring to FIG. 4, an example of an AMR is illustrated as a smart logistics vehicle (110). The body may have a track-shaped planar shape with a long axis extending along a single axis direction as a whole. One drive wheel (111-1) may be arranged in the center of the body in the single-axis direction, may be arranged on one side in the double-axis direction, and another drive wheel (not shown) may be arranged on the other side to face one drive wheel (111-1) in the double-axis direction. This arrangement of drive wheels may be referred to as a 'differential drive (DD)'. Although not illustrated in FIG. 4, two or more non-drive wheels may be arranged on the lower part of the body. In this case, if two drive wheels rotate in the same direction at the same speed, forward or backward movement is possible along a single axis direction, and if they rotate in opposite directions at the same speed, they may extend along a three-axis direction and rotate around a rotation axis passing through the plane center (C) of the body. In addition, a sensor unit (112) may be placed on the front of the body, and a loading unit (113) may be placed on the upper surface. The loading unit (113) may be configured to be able to be raised and lowered along three axes, and a rack or tray may be fixed to the upper surface through a guide (113-1).

[0082] However, the AMR shape of the above-described Fig. 4 is exemplary, and it is obvious that the AGV may have a similar shape or the AMR may have a different shape.

[0083] Next, the driving process of the smart logistics vehicle (110) will be described with reference to Fig. 5.

[0084] FIG. 5 is a flowchart illustrating an example of a driving process of a smart logistics vehicle (110) applicable to embodiments of the present invention. In FIG. 5, for convenience, it is assumed that the smart logistics vehicle (110) is an AMR capable of positioning and local route setting.

[0085] Referring to Fig. 5, first, while the AMR drives inside the smart factory (100), it can obtain a real-world grid map using lidar, etc. (S501).

[0086]

[0087] *When the AMR transmits the acquired grid map to the control device (140), the grid map editing and matching process can be performed in the map management unit (148) of the control device (140) (S502). Here, the editing process can include the process of setting the aforementioned various zones in the aforementioned grid map, the process of assigning a cost to each grid, etc. Here, the cost assignment can be performed in a direction in which the cost is assigned higher the closer the AMR is to an obstacle or a no-entry area so that the AMR does not move around an obstacle or into an area that it should not enter. This is because the AMR selects the set of cells with the lowest cost among waypoints as the route when setting a local route.

[0088] Additionally, the map matching process may mean a process of matching coordinates between a CAD map used in the design of a smart factory (100), a real-world grid map (lidar map), and a topology map that has gone through an editing process.

[0089] Afterwards, the control device (140) can share the topology map with all AMRs in the factory through the communication unit (146) (S503).

[0090] Subsequent steps may be applied to individual AMRs.

[0091] The AMR can determine (localize) its current location on the map using sensor data from the sensing unit (112) and the acquired map (S504). For example, the AMR can determine its current location by comparing the surrounding terrain acquired via lidar with the map based on feature points.

[0092] The control device (140) can select a specific AMR and assign a mission, and the mission can be assigned one or more waypoints, which are generally determined through global path planning. The waypoints can be defined as coordinates on a map and can be accompanied by information about the direction (i.e., heading) that the AMR should head in from the coordinates. Based on this mission assignment, a destination can be set for the AMR (Yes in S505), and the AMR can perform local path planning between waypoints based on the cost of the topology map (S506).

[0093] Once the path is determined, the AMR begins driving (S507). If an obstacle is detected by the sensing unit (112) during driving (Yes in S508), the AMR may perform an evasive maneuver by performing a local route search to bypass the detected obstacle (S509). In some cases, depending on the evasive maneuver or the failure of the evasive maneuver, the control device (140) may update the mission of the AMR.

[0094] Additionally, the AMR can also compensate for position errors during movement using the aforementioned odometry technique until it reaches its destination (S510).

[0095] After reaching the destination (S511), the AMR can perform mission-based maneuvers (S512). For example, the AMR can determine whether conditions for entering a specific process area are cleared, retrieve empty pallets at the destination, or drop off loads loaded on the loading section (113).

[0096]

[0097] In one embodiment of the present invention, the purpose is to determine in advance whether a smart logistics vehicle can enter a selected destination while moving from a departure point to the destination.

[0098] Hereinafter, the operation of the control device (140) according to an embodiment of the present invention will be described with reference to FIG. 6.

[0099] Figure 6 is a block diagram for explaining the operation of a control device according to one embodiment of the present invention.

[0100] Referring to FIG. 6, a control device (140) according to an embodiment of the present invention may include a communication unit (146), a map management unit (148), and a route selection unit (149). FIG. 6 mainly illustrates components related to an embodiment of the present invention, and when implementing an actual control device (140), it is obvious that more components than this may be included, as described above in FIG. 2.

[0101] In addition, for convenience of explanation, in FIG. 6, a case is described in which one control device (140) and one smart logistics vehicle (110) are equipped, but it should be understood that this also applies equally to a case in which multiple smart logistics vehicles and multiple control devices are equipped.

[0102] Below, each component is explained.

[0103] First, the communication unit (146) can communicate with at least one smart logistics vehicle (110) provided within the operation boundary (100). In particular, the communication unit (146) can communicate with the communication unit (114) of at least one smart logistics vehicle (110), and through this, can receive information including the location of at least one smart logistics vehicle (110), whether work is being performed, etc. In addition, the communication unit (146) can transmit information generated by the control device (140) to the communication unit (114) of at least one smart logistics vehicle (110).

[0104] The map management unit (148) may set a destination confirmation location for at least a portion of the operational boundary. At this time, the destination confirmation location may be a location where at least one smart logistics vehicle (110) can determine whether it is possible to enter a destination while moving. For example, the location may be a location where it is possible to determine whether at least one smart logistics vehicle (110) is capable of entering multiple candidate destinations related to a currently assigned mission. In this case, the location may be set to correspond to multiple candidate destinations. However, this is merely exemplary and should not be construed as being limited thereto.

[0105] In addition, the destination confirmation location can be set to correspond to at least one of a node, a zone, and a lane existing on the movement path of at least one smart logistics vehicle (110). That is, the map management unit (148) can set a destination confirmation location formed by at least one of a node, a zone, and a lane for at least a portion within the operation boundary.

[0106] In addition, the map management unit (148) can provide information on the set destination confirmation location to the route selection unit (149).

[0107] The route selection unit (149) can control at least one smart logistics vehicle (110) to move toward a destination confirmation location.

[0108] Specifically, the route selection unit (149) can collect information on the current location of at least one smart logistics vehicle (110), and based on the collected information, can generate a movement route from the current location as the starting point to the destination confirmation location set in the map management unit (148). However, this is merely exemplary, and the present invention is not necessarily limited thereto. For example, the route selection unit (149) can generate a movement route connecting the starting point and the destination by using the current location of at least one smart logistics vehicle (110) as the starting point and a plurality of candidate destinations related to the mission of at least one smart logistics vehicle (110) as the destination. At this time, the movement route can be generated so that the destination confirmation location is formed on the movement route by taking into consideration the destination confirmation location set in the map management unit (148).

[0109] The route selection unit (149) can transmit the generated movement route to the communication unit (114) of at least one smart logistics vehicle (110), and for example, can transmit information on a plurality of waypoints included in the movement route to the communication unit (114) of at least one smart logistics vehicle (110). At least one smart logistics vehicle (110) can move from the starting point toward the destination confirmation location based on the information on the plurality of waypoints received. However, this is merely exemplary and is not necessarily limited thereto.

[0110] At least one smart logistics vehicle (110) can move from a starting point to a destination confirmation location while recognizing multiple waypoints. In particular, the route selection unit (149) according to an embodiment of the present invention can determine whether at least one smart logistics vehicle (110) can enter at least one of a plurality of candidate destinations when entering a destination confirmation location while moving, and can set an enterable candidate destination among the plurality of candidate destinations as the final destination. This will be described in detail with reference to FIG. 7.

[0111]

[0112] FIG. 7 is a drawing for explaining a situation in which a smart logistics vehicle determines a candidate destination according to one embodiment of the present invention.

[0113] Referring to Fig. 7, a virtual lane (e.g., a lane) may be set within the operation boundary (100), and the path selection unit (149) may generate a movement path based on the virtual lane (lane). In Fig. 7, it is assumed that a movement path for a recovery mission of a certain smart logistics vehicle (110) has been generated. However, this is merely exemplary, and it is to be understood that the present invention is not limited thereto. In addition, although Fig. 7 assumes that the destination confirmation section is formed as a single node, this is merely exemplary, and it is to be understood that the destination confirmation section may be formed based on a zone on the movement path or based on a lane.

[0114] The following describes one smart logistics vehicle (110), but it is of course equally applicable to each of at least one smart logistics vehicle provided within the operating boundary (100).

[0115] Referring to FIG. 7, a smart logistics vehicle (110) can move along a pre-generated movement path to a destination confirmation location set to correspond to a plurality of candidate destinations (e.g., CP1, CP2, CP3). The smart logistics vehicle (110) can periodically transmit its location to the control device (140) while moving along the movement path, and the map management unit (148) can determine whether the smart logistics vehicle (110) has moved to a destination confirmation location that exists as a node on the movement path. When the smart logistics vehicle (110) has moved to the destination confirmation location, the path selection unit (149) can control the smart logistics vehicle (110) to temporarily stop moving at the destination confirmation location, and the following description can be performed while the vehicle is temporarily stopped.

[0116] Meanwhile, multiple smart logistics vehicles may move along the same route within the operational boundary (100). Multiple smart logistics vehicles may temporarily stop along the route upon arriving at the destination confirmation location. This may result in multiple smart logistics vehicles occupying the destination confirmation location, potentially leading to a deadlock with other smart logistics vehicles entering the destination confirmation location.

[0117] Accordingly, the route selection unit (149) can determine whether entry into the destination confirmation location is possible by judging the occupancy status of the smart logistics vehicle (110) at the destination confirmation location. If entry into the destination confirmation location is possible, the route selection unit (149) can cause the smart logistics vehicle (110) to drive along the travel route and enter the destination confirmation location. On the other hand, if entry into the destination confirmation location is impossible, the route selection unit (149) can cause the smart logistics vehicle (110) to perform a turning mission nearby, and when entry into the destination confirmation location becomes possible, the turning mission can be terminated and the vehicle can enter the destination confirmation location again. However, this is merely an example and, of course, is not limited thereto.

[0118] When it is determined that the smart logistics vehicle (110) has entered the destination confirmation location, the route selection unit (149) can collect information on multiple candidate destinations (CP1, CP2, CP3). At this time, the route selection unit (149) can collect information on multiple candidate destinations (CP1, CP2, CP3) through the production device (120) or the monitoring device (130) provided within the operation boundary (100), as illustrated in FIG. 6. The production device (120) can provide status information on multiple candidate destinations (CP1, CP2, CP3), and the monitoring device (130) can provide sensing information of sensors provided in the multiple candidate destinations (CP1, CP2, CP3). However, this is merely exemplary and the present invention is not limited thereto.

[0119] The route selection unit (149) can determine whether entry to at least one of the plurality of candidate destinations (CP1, CP2, CP3) is possible based on information about the plurality of candidate destinations (CP1, CP2, CP3). For example, if another smart logistics vehicle is deployed at at least one of the plurality of candidate destinations (CP1, CP2, CP3) (e.g., CP1) or at least one of the plurality of candidate destinations (CP1, CP2, CP3) (e.g., CP1) has been changed to an inactive state based on information about the plurality of candidate destinations (CP1, CP2, CP3), it can be determined that entry to the candidate destination (CP1) is impossible. However, this is merely an example and is not necessarily limited thereto.

[0120] And, if it is determined that entry to at least one candidate destination is impossible, the route selection unit (149) can set an accessible candidate destination among multiple candidate destinations (CP1, CP2, CP3) as the final destination.

[0121] For example, among multiple candidate destinations (CP1, CP2, CP3), there may be multiple candidate destinations that can be entered, excluding candidate destinations that cannot be entered. In this case, the route selection unit (149) can determine information about candidate destinations that can be entered (e.g., CP2, CP3). The multiple candidate destinations (CP1, CP2, CP3) may be destinations related to the mission of the smart logistics vehicle (110), and in order to perform the mission given to the smart logistics vehicle (110), information about candidate destinations that can be entered (e.g., CP2, CP3) among the multiple candidate destinations (CP1, CP2, CP3) related to the mission can be determined. At this time, the route selection unit (149) can determine information about candidate destinations that can be entered (e.g., CP2, CP3) based on information about the multiple candidate destinations (CP1, CP2, CP3) collected in advance.

[0122] In addition, the path selection unit (149) may set one of the candidate destinations (e.g., CP2) among the accessible candidate destinations (CP2, CP3) as the final destination based on the determined information.

[0123] Thereafter, the route selection unit (149) can generate a movement route from the current location of the smart logistics vehicle (110) to an accessible candidate destination (e.g., CP2) and transmit the generated movement route to the smart logistics vehicle (110). Through this, the route selection unit (149) can cause the smart logistics vehicle (110) to move along the generated movement route and control the smart logistics vehicle (110) to smoothly perform a given mission.

[0124]

[0125] Hereinafter, with reference to FIGS. 6 to 7, a smart logistics vehicle control method according to an embodiment of the present invention will be described based on the configuration and operation of the control device (140) described above, with reference to FIG. 8.

[0126] FIG. 8 is a drawing for explaining a smart logistics vehicle control method according to one embodiment of the present invention.

[0127] Referring to FIG. 8, the map management unit (148) can set destination confirmation locations corresponding to multiple candidate destinations of a smart logistics vehicle (110) for some sections within the operation boundary (100) (S801). In addition, the map management unit (148) can transmit information on the set destination confirmation locations to the route selection unit (149) (S802).

[0128] The route selection unit (149) can receive information on the current location of the smart logistics vehicle (110) from the communication unit (114) of the smart logistics vehicle (110) (S803-1, S803-2). Then, based on the received information, the route selection unit (149) can create a movement route that takes the current location of the smart logistics vehicle (110) as the starting point and moves from the starting point toward the destination confirmation location (S804).

[0129] The path selection unit (149) can transmit information about the generated movement path to the communication unit (114) of the smart logistics vehicle (110) (S805-1), the communication unit (114) can transmit this to the control unit (115) (S805-2), and the control unit (115) can control the smart logistics vehicle (110) to move along the movement path.

[0130] While the smart logistics vehicle (110) is moving, the smart logistics vehicle (110) can periodically provide its current location to the communication unit (146) (S806-1), and the communication unit (146) can provide this to the map management unit (148) (S806-2). Based on this, the map management unit (148) can determine whether the smart logistics vehicle (110) has entered a destination confirmation location provided on the movement route (S807). If the map management unit (148) determines that the smart logistics vehicle (110) has entered the destination confirmation location, the map management unit (148) can transmit the determination result to the route selection unit (149) (S808).

[0131] And, when the smart logistics vehicle (110) enters the destination confirmation location, the route selection unit (149) can receive status information on multiple candidate destinations from the production device (120) (S809-1, S809-2) or receive sensing information of sensors equipped in multiple candidate destinations from the monitoring device (130) (S810-1, S810-2).

[0132] The route selection unit (149) can determine whether at least one of a plurality of candidate destinations is accessible based on information transmitted through the production device (120) and the monitoring device (130), thereby determining an accessible candidate destination (S811). The route selection unit (149) can set an accessible candidate destination as the final destination, use the current location of the smart logistics vehicle (110) as the starting point, and use the final destination as the destination to generate a movement route connecting the starting point and the destination (S812).

[0133] In addition, the path selection unit (149) can transmit the generated movement path to the communication unit (114) of the smart logistics vehicle (110) (S813-1), and the communication unit (114) can transmit it to the control unit (115) (S813-2). The control unit (115) can control the smart logistics vehicle (110) to move to a candidate destination that it can enter based on the transmitted movement path.

[0134]

[0135] As described above, the smart logistics vehicle control method and control device according to the embodiment of the present invention can smoothly perform a mission previously assigned to a smart logistics vehicle by changing the destination to one of the other destinations that can perform the same mission when entry is impossible due to changes in the situation of the preset destination.

[0136]

[0137] Although the present invention has been illustrated and described with respect to specific embodiments thereof, 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 invention as defined by the claims below.

[0138] The present invention described above can be implemented as computer-readable code on a medium having a program recorded thereon. Computer-readable media include all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include hard disk drives (HDDs), solid-state disks (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, and optical data storage devices. Therefore, the above detailed description should not be construed as limiting in any respect, but rather as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are intended to be included within the scope of the present invention.

[0139]

[0140] [Explanation of symbols]

[0141] 100: Smart Factory

[0142] 110: Smart Logistics Vehicle

[0143] 120: Production device

[0144] 130: Surveillance device

[0145] 140: Control device

Claims

1. A step of controlling at least one smart logistics vehicle to move toward a destination confirmation location corresponding to a plurality of candidate destinations related to a currently assigned mission; A step of determining whether at least one of the plurality of candidate destinations can be entered when the at least one smart logistics vehicle enters the destination confirmation location while moving; and A smart logistics vehicle control method, comprising: a step of setting an accessible candidate destination among the above multiple candidate destinations as the final destination.

2. In claim 1, The above controlling steps are A step of collecting information on the current location of at least one smart logistics vehicle; A step of generating a movement route from the current location as the starting point to the destination confirmation location based on the collected information; and A smart logistics vehicle control method, characterized in that it comprises a step of controlling at least one smart logistics vehicle to move toward the destination confirmation location based on the generated movement path.

3. In claim 1, The above destination confirmation location is A smart logistics vehicle control method characterized in that at least one smart logistics vehicle is preset to correspond to at least one of a node, a zone, and a lane existing on a route along which the smart logistics vehicle moves.

4. In claim 1, The above judging steps are A step of determining whether at least one smart logistics vehicle can enter the destination confirmation location while moving; and A smart logistics vehicle control method, characterized by comprising: a step of determining whether entry into at least one of the plurality of candidate destinations is possible by allowing at least one smart logistics vehicle to enter the destination confirmation location when the destination confirmation location is possible.

5. In claim 4, The step of determining whether at least one of the above is possible is If it is impossible to enter the destination confirmation location, a step of controlling at least one smart logistics vehicle to perform a turning mission; and A smart logistics vehicle control method characterized by comprising: a step of determining whether entry into at least one of the plurality of candidate destinations is possible by causing the at least one smart logistics vehicle to stop the turning mission and enter the destination confirmation location while performing the turning mission, if entry into the destination confirmation location becomes possible.

6. In claim 1, The above judging steps are A step of collecting information on the plurality of candidate destinations when entering the destination confirmation location; and A smart logistics vehicle control method, characterized by including a step of determining whether entry into at least one of the plurality of candidate destinations is possible based on the collected information.

7. In claim 6, The above collecting steps are A smart logistics vehicle control method, characterized in that it comprises a step of collecting information on the plurality of candidate destinations through sensors provided at each of the plurality of candidate destinations when entering the destination confirmation location.

8. In claim 1, The above judging steps are A smart logistics vehicle control method, characterized in that it comprises a step of determining that entry into a candidate destination is impossible if another smart logistics vehicle is deployed at least at one of the plurality of candidate destinations or at least one of the plurality of candidate destinations has been changed to an inactive state.

9. In claim 1, The steps to set up above are A smart logistics vehicle control method, characterized in that it comprises a step of setting one of the above-mentioned accessible candidate destinations as the final destination when there are multiple accessible candidate destinations.

10. In claim 1, After the above setting steps A step of generating a movement path from the current location of at least one smart logistics vehicle to the final destination; and A smart logistics vehicle control method, characterized in that it further includes a step of controlling at least one smart logistics vehicle to move along the generated movement path.

11. A communication unit that performs communication with at least one smart logistics vehicle; and A control device comprising: a route selection unit for controlling at least one smart logistics vehicle to move toward a destination confirmation location corresponding to a plurality of candidate destinations related to a currently assigned mission, determining whether entry into at least one of the plurality of candidate destinations is possible when the at least one smart logistics vehicle enters the destination confirmation location while moving, and setting an enterable candidate destination among the plurality of candidate destinations as a final destination.

12. In claim 11, The above path selection section A control device characterized in that it collects information on the current location of at least one smart logistics vehicle, generates a movement path from the current location as the starting point to the destination confirmation location based on the collected information, and controls the at least one smart logistics vehicle to move toward the destination confirmation location based on the generated movement path.

13. In claim 11, The above path selection section A control device characterized in that it determines whether at least one smart logistics vehicle can enter the destination confirmation location while moving, and if it can enter the destination confirmation location, it allows the at least one smart logistics vehicle to enter the destination confirmation location, thereby determining whether entry is possible to at least one of the plurality of candidate destinations.

14. In claim 13, The above path selection section A control device characterized in that, if entry into the destination confirmation location is impossible, the at least one smart logistics vehicle is controlled to perform a turning mission, and if entry into the destination confirmation location becomes possible while the at least one smart logistics vehicle is performing the turning mission, the at least one smart logistics vehicle stops the turning mission and enters the destination confirmation location, thereby determining whether entry into at least one of the plurality of candidate destinations is possible.

15. In claim 11, The above path selection section A control device characterized in that at least one smart logistics vehicle collects information on the plurality of candidate destinations when entering the destination confirmation location, and determines whether entry into at least one of the plurality of candidate destinations is possible based on the collected information.

16. In claim 15, The above path selection section A control device characterized in that the at least one smart logistics vehicle collects information about the plurality of candidate destinations through sensors provided at each of the plurality of candidate destinations when the at least one smart logistics vehicle enters the destination confirmation location.

17. In claim 11, The above path selection section A control device characterized in that it is determined that entry into a candidate destination is impossible when another smart logistics vehicle is deployed at least at one of the plurality of candidate destinations or when at least one of the plurality of candidate destinations is changed to an inactive state.

18. In claim 11, The above path selection section A control device characterized in that, when there are multiple candidate destinations that can be entered, one of the candidate destinations that can be entered is set as the final destination.

19. In claim 11, The above path selection section A control device characterized in that, when the final destination is set, a movement path is generated from the current location of the at least one smart logistics vehicle to the final destination, and the at least one smart logistics vehicle is controlled to move along the generated movement path.

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