Method for controlling logistics robot, and control device

Abstract

A method for controlling a logistics robot operating within a preset operation boundary includes: a step of generating state information including at least one of information about the number of occupancies of the logistics robot in a predetermined area within the operation boundary and information about a process state within the operation boundary; and a step of determining whether to change an attribute of a movement area for the logistics robot according to the state information.

Description

Method and control device for controlling a logistics robot

[0001] The present invention relates to a method and a control device for controlling a logistics robot that changes the properties of a movement area for the logistics robot according to status information within an operation boundary.

[0002] 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.

[0003] 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.

[0004] In a smart factory, logistics robots can move along optimal paths based on path planning to perform missions assigned by control devices.

[0005] 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.

[0006] Accordingly, the present invention aims to solve a technical problem of generating a detour movement path of a logistics robot by changing the properties of a movement area for the logistics robot according to status information within an operation boundary.

[0007] 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.

[0008] A method for controlling a logistics robot operating within a preset operating boundary according to one embodiment may include: setting an area rule including a movement direction for at least one movement area that can be variably set within the operating boundary; determining whether to change an area rule of a movement area associated with a preset area based on status information including at least one of information on the number of occupancies of the logistics robot in a preset area within the operating boundary, information on a process status within the operating boundary, and mission information for the logistics robot; and setting a path of the logistics robot between a starting point and a destination based on the mission information of the logistics robot based on an area rule in which the determination is reflected.

[0009] For example, the predetermined area may correspond to a predetermined zone including the movement area or at least a portion of the movement area.

[0010] For example, the area rule may include at least one of whether the movement area is activated or a possible movement direction of the movement area.

[0011] For example, the above area rule may further include at least one of a center offset of the virtual lane, whether to wait before entering, a position, a size, and a deceleration of the logistics robot within the virtual lane.

[0012] For example, the determining step may include a step of changing an area rule of a movement area associated with the predetermined area when the occupancy number of the logistics robot reaches the occupancy limit number.

[0013] For example, when determining to create a detour route upon reaching the above occupancy limit, the method may further include a step of creating the detour route according to the changed area rule.

[0014] For example, the step of setting the occupancy limit number includes the step of setting a plurality of state-specific occupancy limits according to the state of each of the logistics robots, and the step of changing can be performed when any one of the plurality of state-specific occupancy limits is satisfied.

[0015] For example, the status of each of the logistics robots may include at least one of a normal status, an error status, whether or not it is loaded, the type of load when loaded, and a specific mission execution status.

[0016] For example, information on the occupancy of the logistics robots can be determined by considering at least one of the movement direction, position, and speed of each logistics robot existing within the movement area.

[0017] In addition, a control device for controlling a logistics robot operating within a preset operating boundary according to one embodiment may include a map management unit that sets an area rule including a possible movement direction for at least one movement area that can be variably set within the operating boundary; and a work schedule management unit that determines whether to change an area rule of a movement area associated with the preset area based on status information including at least one of information on the number of occupancies of the logistics robot in a preset area within the operating boundary, mission information on the logistics robot, and information on the process status, and sets a route of the logistics robot between a starting point and a destination based on mission information of the logistics robot based on an area rule in which the determination is reflected.

[0018] For example, the predetermined area may correspond to a predetermined zone including the movement area or at least a portion of the movement area.

[0019] For example, the area rule may include at least one of whether the movement area is activated or a possible movement direction of the movement area.

[0020] For example, the above area rule may further include at least one of a center offset of the virtual lane, whether to wait before entering, a position, a size, and a deceleration of the logistics robot within the virtual lane.

[0021] For example, the map management unit sets an occupancy limit number of the logistics robots for the predetermined area, and the work schedule management unit can change the area rule of the movement area associated with the predetermined area when the occupancy limit number of the logistics robots reaches the occupancy limit number.

[0022] For example, when the work schedule management unit determines to create a detour route based on the reaching of the occupancy limit, it can create the detour route based on the changed area rule.

[0023] For example, the map management unit sets a plurality of state-specific occupancy limits according to the state of each of the logistics robots, and the work schedule management unit can change the area rule of the movement area associated with the predetermined area when any one of the plurality of state-specific occupancy limits is satisfied.

[0024] For example, the status of each of the logistics robots may include at least one of a normal status, an error status, whether or not it is loaded, the type of load when loaded, and a specific mission execution status.

[0025] For example, information on the occupancy of the logistics robots can be determined by considering at least one of the movement direction, position, and speed of each logistics robot existing within the movement area.

[0026] According to the present invention, by changing the properties of a movement area for a logistics robot according to status information within an operation boundary to create a detour movement path for the logistics robot, the movement of the logistics robot can be made smooth.

[0027] 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.

[0028] FIG. 1 is a block diagram showing an example of an operational boundary configuration that can be applied to embodiments of the present invention.

[0029] FIG. 2 is a block diagram showing an example of a control device configuration that can be applied to embodiments of the present invention.

[0030] FIG. 3 is a block diagram showing an example of a configuration of a work schedule management unit included in a control device that can be applied to embodiments of the present invention.

[0031] FIG. 4 is a block diagram showing an example of a logistics robot configuration that can be applied to embodiments of the present invention.

[0032] FIG. 5 is a perspective view showing an example of the exterior of a logistics robot that can be applied to embodiments of the present invention.

[0033] Figure 6 is a flowchart showing an example of a driving process of a logistics robot that can be applied to embodiments of the present invention.

[0034] FIG. 7 is a sequence diagram for explaining a method for generating a detour movement path of a logistics robot according to one embodiment of the present invention.

[0035] FIG. 8a, FIG. 8b, FIG. 9, FIG. 10a, FIG. 10b, FIG. 10c, and FIG. 10d are drawings for explaining a process in which a logistics robot according to one embodiment of the present invention performs a detour movement or wait.

[0036] FIG. 11 is a drawing for explaining a process for controlling whether or not to activate a movement path for a logistics robot according to one embodiment of the present invention.

[0037] 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 will be given the same reference numbers, and redundant descriptions thereof will be omitted. The suffixes “module” and “part” used for components in the following description are assigned or used interchangeably only for the convenience of writing the specification, and do not in themselves have distinct meanings or roles. In addition, when describing the embodiments disclosed in this specification, if it is determined that a specific description of a related known technology may obscure the gist of the embodiments disclosed in this specification, a detailed description thereof will be omitted. In addition, the attached drawings are only intended to facilitate easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and technical scope of the present invention.

[0038] 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.

[0039] 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.

[0040] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0041] 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.

[0042] In addition, the term "Unit" or "Control Unit" included in the internal configuration names of logistics robots 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.

[0043] First, the configuration of the operational boundary in which the logistics robot according to the embodiment is deployed and operated is described with reference to Fig. 1.

[0044]

[0045] *Figure 1 is a block diagram showing an example of an operational boundary configuration that can be applied to embodiments.

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

[0047] The operational boundary (100) may be equipped with multiple logistics robots (110), multiple production devices (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, but is not necessarily limited thereto. 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] A more detailed configuration of the logistics robot (110) will be described later with reference to FIGS. 4 and 5, and the driving control process of the AMR will be described later with reference to FIG. 6.

[0052] 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 the operation boundary (100), and in a broader sense, may refer to a device arranged to assist in the performance of missions such as entry and exit of a logistics robot (110) when the production process is performed by a person. The 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 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.

[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 components 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] 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.

[0061] 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 task creation unit (147), a map management unit (148), and a task schedule management unit (149).

[0062] 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.

[0063] 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.

[0064] The process management department (143) can define the process for each product and manage missions such as process progress and progress location.

[0065] The production / logistics management department (144) can dispatch logistics robots (110) based on missions.

[0066] 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.

[0067] The communication unit (146) can communicate with internal components of the operation boundary (100), such as a logistics robot (110), a production device (120), and a monitoring device (130), as well as external entities, such as a firmware update server.

[0068] The job creation unit receives logistics sequence information from a manufacturing execution system (MES, not shown) through a communication unit (146), process status information and parts supply information from a production device (120), and process surrounding monitoring information from a monitoring device (130), and can create mission (Job) information for a logistics robot (110) based on the received information and transmit it to a job schedule management unit (149) to be described later. The mission information can include starting point and destination information for each logistics robot (110).

[0069] The map management unit (148) may obtain map data in the form of a grid map obtained when an AMR among logistics robots (110) drives within the operating boundary (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 the logistics robot (110) performs one or more preset actions upon entry, may be set, but this is merely an example and is not necessarily limited thereto.

[0070] Here, a zone may include one or more virtual lanes, and a virtual lane may be referred to as a movement zone. For example, an intersection zone where multiple virtual lanes meet is designated as a single zone can be viewed as consisting of multiple movement zones.

[0071] The map management unit (148) can set area rules (or properties) for each movement area (lane) and zone. Area rules may include at least one of whether the movement area (lane) or zone is activated (driving is not possible when deactivated), driving direction, the center offset of the virtual lane that serves as the driving reference line when the logistics robot (110) drives, whether to wait before entering, location and size, and speed control of the logistics robot (110) within the virtual lane, but this is only an example and is not necessarily limited thereto. Here, if the speed control of the logistics robot (110) within the virtual lane is implemented in the form of deceleration, if a specific area is excessively congested, the risk of collision can be improved by entering and driving in the area at a low speed.

[0072] In addition, the map management unit (148) may distribute the map to the remaining logistics robots (110) other than the logistics robot (110) that acquired the initial grid map through actual driving through the communication unit (146).

[0073] The work schedule management unit (149) determines whether to change the area rule based on at least one of the process information of the operation boundary (100) received from the production device (120) and the monitoring device (130) through the communication unit (146), the mission information of the logistics robot obtained from the work creation unit (147), and the area rule change condition, and can create or adjust the global path of the logistics robot (110) based on the area rule reflected in the determination result.

[0074] Example area rule change conditions are as follows, and two or more example conditions may be combined.

[0075] -Number of logistics robots occupying a specific LANE / ZONE

[0076] - Status information of logistics robots occupying a specific LANE / ZONE (type of logistics robot, whether loaded, type of load when loaded, presence of errors, location path, location within the zone, etc.)

[0077] - Number of logistics robots with specific status information within a specific LANE / ZONE

[0078] - For locations within a specific LANE / ZONE, if it is at the beginning of the route according to the area, it is included in the count, and if it is at the end, it is not included.

[0079] - Ability to consider the path direction and location of logistics robots attempting to enter a specific LANE / ZONE

[0080] - Mission / JOB defined by synthesizing mission / JOB information, such as logistics sequences, parts supply information, process status information, and monitoring information received from MES.

[0081] - Parts supply information (type, shape, size of supplied parts, etc.)

[0082] - Process status information (information received from the equipment PLC)

[0083] - Surveillance information (information received from sensors around the facility)

[0084] A more specific configuration and operation method of the work schedule management unit (149) is described with reference to FIG. 3.

[0085] FIG. 3 is a block diagram showing an example of a configuration of a work schedule management unit included in a control device that can be applied to embodiments of the present invention.

[0086] Referring to FIG. 3, the work schedule management unit (149) may include a mission group management unit (149a), an operation mission management unit (149b), a priority calculation unit (149c), a control operation status management unit (149d), and a movement path setting unit (149e).

[0087] The mission group management unit (149a) can group missions of the logistics robot (110) based on process information and manage the grouped missions.

[0088] The operation mission management unit (149b) can create a list of missions of the logistics robot (110) currently in progress and monitor the created list.

[0089] The priority calculation unit (149c) can set priorities for the missions of the logistics robot (110) and change and monitor the set priorities.

[0090] The control operation status management unit (149d) can monitor and compare the operation status of the logistics robot (110) and the production facility control status of the PLC based on data from the mission group management unit (149a), the operation mission management unit (149b), and the priority calculation unit (149c). In addition, the control operation status management unit (149d) can determine whether to change the area rule based on at least one of the process information of the operation boundary (100) received from the production device (120) and the monitoring device (130) through the communication unit (146), the mission information of the logistics robot obtained from the task creation unit (147), and the area rule change conditions.

[0091] The movement path setting unit (149e) can set an optimal global path for the logistics robot (110) according to the mission set in the mission group management unit (149a) based on the area rule currently applied to at least one of the virtual lanes or zones.

[0092] Next, a logistics robot will be described with reference to FIGS. 4 and 5.

[0093] FIG. 4 is a block diagram showing an example of a logistics robot configuration that can be applied to embodiments of the present invention.

[0094] Referring to FIG. 4, 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.

[0095] 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.

[0096] 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.

[0097] 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 displacement estimated based on the encoder data and the actual displacement due to wheel slip or wear (change in wheel rotation). Therefore, when performing odometry, the control unit (115) can perform noise and error correction on the information collected from the 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.

[0098] 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.

[0099] 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).

[0100] 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.

[0101] 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.

[0102] The communication unit (114) can communicate with other components within the operation boundary (100), such as the production device (120) and the control device (140), and can also support communication between logistics robots (110), and can also communicate with the charger when performing a charging mission.

[0103] 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).

[0104] FIG. 5 is a perspective view showing an example of the exterior of a logistics robot that can be applied to embodiments of the present invention.

[0105] Referring to FIG. 5, an example of an AMR is illustrated as a logistics robot (110). The body may have a track-shaped planar shape having 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, they can move forward or backward along a single axis direction, and if they rotate in opposite directions at the same speed, they can extend along a three-axis direction and rotate around a rotation axis passing through the plane center ⓒ 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).

[0106] However, the AMR shape of the above-described Fig. 5 is exemplary, and it is obvious that the AGV may have a similar shape or the AMR may have a different shape.

[0107] Next, the driving process of the logistics robot (110) will be described with reference to Fig. 6.

[0108] Figure 6 is a flowchart illustrating an example of a driving process of a logistics robot (110) applicable to embodiments of the present invention. In Figure 6, for convenience, it is assumed that the logistics robot (110) is an AMR capable of positioning and local path planning.

[0109] Referring to Fig. 6, first, while the AMR drives within the operating boundary (100), it can obtain a real-world grid map through lidar, etc. (S601).

[0110] When the AMR transmits the acquired grid map to the control device (140), a grid map editing and matching process can be performed in the map management unit (148) of the control device (140) (S602). Here, the editing process can include a process of setting the aforementioned various zones in the aforementioned grid map, a process of assigning a cost to each grid, etc. Here, the cost assignment can be performed in a direction in which a higher cost is assigned the closer the AMR is to an obstacle or a no-entry area so that the AMR does not move around an obstacle or into an area that it should not enter. This is because, when the AMR sets a local route, it selects a set of cells with the lowest cost among waypoints as the route.

[0111] Additionally, the map matching process may mean a process of matching coordinates between a CAD map used in the design of the operational boundary (100), a real-world grid map (lidar map), and a topology map that has gone through an editing process.

[0112] Afterwards, the control device (140) can share the topology map with all AMRs in the factory through the communication unit (146) (S603).

[0113] Subsequent steps may be applied to individual AMRs.

[0114] The AMR can determine its current location on the map (localization) using sensor data from the sensing unit (112) and the acquired map (S604). For example, the AMR can determine its current location by comparing the surrounding terrain acquired via lidar with the map based on feature points.

[0115] 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 by coordinates on a map and can be accompanied by information about the direction (i.e., heading) that the AMR should head from the coordinates. Based on this mission assignment, a destination can be set for the AMR (Yes in S605), and the AMR can perform local path planning between waypoints based on the cost of the topology map (S606).

[0116] Once the path is determined, the AMR begins driving (S507). If an obstacle is detected by the sensing unit (112) during driving (Yes in S608), the AMR may perform an evasive maneuver by performing a local route search to bypass the detected obstacle (S609). 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.

[0117] Additionally, the AMR can also compensate for position errors during movement using the aforementioned odometry technique until it reaches its destination (S610).

[0118] Upon reaching the destination (S611), the AMR may perform mission-based maneuvers (S612). For example, the AMR may determine whether conditions for entering a specific process area have been met, retrieve empty pallets at the destination, or drop off loads loaded on the loading section (113).

[0119] In the above, the configuration and operation method of the logistics robot (110), production device (120), monitoring device (130), and control device (140) included in the operation boundary (100) that can be applied to embodiments of the present invention have been described.

[0120]

[0121] *Below, a method of operating a logistics system that creates a detour movement path for a logistics robot by changing the properties of a movement area for the logistics robot according to status information within the operation boundary when a control device controls the logistics robot operating within a preset operation boundary is described.

[0122] Figure 7 is a sequence diagram illustrating a process for setting a movement path of a logistics robot operating within a preset operational boundary in a logistics system according to one embodiment of the present invention. For convenience, Figure 7 assumes that the logistics robot (110) is an AMR capable of positioning and local path planning.

[0123] Referring to FIG. 7, the map management unit (148) of the control device (140) can variably set at least one of the size or location of at least one movement area on the map of the preset operation boundary, and can set area rules including a movement direction and an offset of a driving reference line for each of the variably settable movement areas (S710). At this time, the movement area may be designated on the CAD map used to design the operation boundary, but is not necessarily limited thereto. Area rules regarding the movement area may be activated or deactivated according to the equipment information of the operation boundary. For example, the movement direction of the movement area may be set to any one of a first longitudinal direction of the movement area, a second longitudinal direction opposite to the first longitudinal direction, and a bidirectional direction including the first and second longitudinal directions. In addition, the driving reference line of the movement area may be adjusted according to an offset value with respect to the center line of each of the plurality of movement areas. More specifically, the driving reference line may shift to one side of the center line or to the other side of the center line depending on the offset value. For example, the driving reference line may be set to the center line of the moving area if the offset value is '0', shifted to one side (e.g., left) of the center line of the moving area if the offset value is positive, and shifted to the other side (e.g., right) of the center line of the moving area if the offset value is negative.

[0124] In addition, the map management unit (148) of the control device (140) can set a limit on the number of logistics robots (110) occupying a given area (S701). Here, the given area corresponds to a movement area or a zone including at least a portion of the movement area, and the given zone may correspond to a traffic zone or an interlock zone corresponding to a crossroads.

[0125] The map management unit (148) can transmit configuration information including area rules for a given area and a movement area to the work schedule management unit (149) (S720).

[0126] Thereafter, optimal path control (S730) for the logistics robot (110) may be performed, reflecting whether or not the area rules have been changed according to one embodiment. The optimal path control (S730) process may be repeatedly performed depending on the satisfaction of preset conditions. For example, the condition for repeated execution of the process (S730) may be the arrival of an individual logistics robot (110) at a specific point, such as a waypoint, but is not necessarily limited thereto.

[0127] Below, the specific process by which optimal path control (S730) is performed is described.

[0128] The production device (120) and the monitoring device (130) can transmit process information of the operation boundary to the job creation unit (147) (S731, S732, S733). More specifically, the production device (120) can transmit process status information and parts supply information to the job creation unit (147) (S731, S733), and the monitoring device (130) can transmit process periphery monitoring information to the job creation unit (147) (S732). Although not illustrated, each piece of information (i.e., process information of the operation boundary) transmitted from each of the production device (120) and the monitoring device (130) to the job creation unit (147) can be shared with other components within the control device (140), such as the job schedule management unit (149).

[0129] The job creation unit (147) can create job (mission) information including the departure and destination information of the logistics robot (110) based on the acquired information and transmit it to the job schedule management unit (149).

[0130] Meanwhile, the logistics robot (110) can transmit status information such as path, location, and error status to the work schedule management unit (149).

[0131] The schedule management unit (149) determines whether to change the area rule based on at least one of the process information of the operation boundary (100) received from the production device (120) and the monitoring device (130) through the communication unit (146), the mission information of the logistics robot obtained from the task creation unit (147), the logistics robot status information, and the preset area rule change condition (e.g., the number of logistics robots occupying a certain area reaches the occupancy limit number), and thereby determines the area rule (i.e., the attribute of Lane / Zone) (S736).

[0132] The work schedule management unit (149) can create or adjust the global path of the logistics robot (110) based on the area rules that reflect the confirmed results. More specifically, the work schedule management unit (149) can instruct the logistics robot (110) to slow down or wait for a specific period of time if necessary (S737), or select an optimal path based on the area rules that reflect the results of the determination of whether to change (S738). Here, the selected optimal path may refer to a global path that includes one or more waypoints, and may be identical to an existing path or may be in the form of a detour or shortcut path with at least a portion modified.

[0133] In addition, the target of the zone rule change may be associated with a given zone where the zone rule change condition is satisfied. In other words, the target of the zone rule change may be the given zone itself where the zone rule change condition is satisfied, or may further include a movement zone (Lane) to provide a detour route around it. For example, if the number of logistics robots (110) occupying a given zone (Zone) reaches a preset limit, the zone (Zone) is given an immobile property, and the zone rule may be changed so that the driving direction of the movement zone (Lane) around the zone (Zone) is reversed or added so that other logistics robots (110) that cannot pass through the zone can make a detour. At this time, the number of logistics robots (110) occupying the zone may be determined in consideration of the movement direction, movement speed, and position on the zone of each logistics robot (110) existing in the zone. For example, if a specific logistics robot is expected to leave an area within a preset timeframe (e.g., 3 seconds), considering its location, direction of movement, and speed, that specific logistics robot may be excluded from the calculation of the number of logistics robots occupying that area. This is because even if another robot requiring optimal route calculation passes through the area, the specific logistics robot is likely to have already left the area by the time the other robot reaches it, thus effectively not contributing to congestion in that area.

[0134] Waypoint information corresponding to the selected optimal path can be transmitted to the logistics robot (110) (S739).

[0135] For example, the work schedule management unit (149) may determine whether to set the status of the logistics robot (110) to a standby status or to generate a detour movement path for the logistics robot (110) by considering at least one of the occupancy rate of the movement area or the offset of the travel reference line of the movement area. Here, the work schedule management unit (149) may determine to generate the detour movement path when the status of the logistics robot (110) located in the movement area where the occupancy limit of the logistics robot (110) has been reached is an error status.

[0136] When the work schedule management unit (149) of the control device (140) decides to create a detour movement path, it can delete the movement path assigned to the logistics robot (110) according to a work regeneration request received from the logistics robot (110) and set the detour movement path of the logistics robot (110) according to the properties of the movement area.

[0137] FIG. 8a, FIG. 8b, FIG. 9, FIG. 10a, FIG. 10b, FIG. 10c, and FIG. 10d are drawings for explaining a process in which a logistics robot according to one embodiment of the present invention performs a detour movement or waits.

[0138] Referring to Fig. 8a, in an operation boundary where movement areas (801, 802) having different movement directions are arranged side by side, a logistics robot (A) enters a movement area (801) in which area rules are set in a downward direction.

[0139] Accordingly, the work schedule management unit (149) performs the optimal path control (S730) described above with reference to FIG. 7. For example, if the occupancy limit number for a predetermined area (810) on the movement area (801) is set to '1', the occupancy limit number is satisfied by the logistics robot (B). In this case, the work schedule management unit (149) may change the predetermined area (810) to a non-movement attribute and determine a change in the area rule so that the movement direction of the movement area (802) opposite the area (810) is reversed, as shown in FIG. 8B. In addition, the work schedule management unit (149) may transmit a waypoint so that the logistics robot (A) descends through the movement area (802) according to the changed area rule. Therefore, the logistics robot (A) can consequently bypass or overtake the logistics robot (B) by using the adjacent lane (802) of the existing lane (801).

[0140] Referring to FIG. 9, in a traffic zone (TZ) set in one of two-lane movement areas having the same possible movement direction, a detour movement path is illustrated in which a logistics robot (A) overtakes a logistics robot (B, C) that has entered the zone (TZ) first. For example, if the occupancy limit for the traffic zone (TZ) is set to '2', the work schedule management unit (149) can change the area rule of the zone (TZ) to 'no movement' and provide detour path information to the logistics robot (A).

[0141] In Fig. 10a, it is assumed that in order for a logistics robot (A) to reach its destination, it must pass through a single movement area (1010) among two movement areas with opposite possible movement directions and enter a movement area (1030) with a downward movement direction.

[0142] As the logistics robot (A) approaches the movement area (1010), the work schedule management unit (149) performs the optimal path control (S730) described above with reference to FIG. 7.

[0143] For example, if the occupancy limit for the traffic zone (TZ) set in the movement area (1010) is set to '2', the occupancy limit is satisfied by the logistics robots (B, C) that have entered the zone (TZ) first, so the work schedule management unit (149) changes the area rule of the zone (TZ) to 'no movement'. In addition, the work schedule management unit (149) can change the movement direction attribute of the movement area (1020) near the traffic zone (TZ) to two-way in order to provide a path for the logistics robot (A) to enter the movement area (1030) that it must pass through, as illustrated in FIG. 10b. Thereafter, the work schedule management unit (149) can provide the logistics robot (A) with an optimal movement path that enters the movement area (1030) having a downward movement direction through the movement area (1020) near the traffic zone (TZ) according to the changed area rule. At this time, the status of the post-entry logistics robot (D) may be in a standby state. Since the area rule of the movement area (1020) near the traffic zone (TZ) has a two-way movement property, after the logistics robot (A) passes through the area (1020), the post-entry logistics robot (D) can of course use the area (1020) in the direction it was previously proceeding.

[0144] Unlike FIG. 10b, which changes the area rules of the movement area (1020) near the traffic zone (TZ), as shown in FIG. 10c, the work schedule management unit (149) may provide a detour route so that the logistics robot (A) can return by activating the slave lane (1010') of the movement area (1010) that it entered.

[0145] In Fig. 10d, it is assumed that a similar assumption as in Fig. 10a is applied, and the occupancy limit for the traffic zone (TZ) is set to '3'. In this case, the occupancy limit is satisfied by the logistics robots (B, C, D) that have entered the zone (TZ) first, so the work schedule management unit (149) changes the area rule of the zone (TZ) to 'no movement'. However, since the work schedule management unit (149) is in a situation where a detour route as in Fig. 10a cannot be used (i.e., bypassing the zone (TZ) is not possible even if the movement direction of any movement area is changed), the work schedule management unit (149) can transmit a standby or deceleration command to the logistics robot (A) (i.e., S737 of Fig. 7). Afterwards, if at least one of the logistics robots (B, C, D) that entered first leaves the zone (TZ), the work schedule management unit (149) can change the zone rule of the zone (TZ) to 'movable' again and reflect this to provide an optimal path to the logistics robot (A). Of course, as described above, when considering the direction, movement speed, and location of each of the logistics robots (B, C, D) that entered first, if at least one is expected to leave the zone (TZ) within a given time, the logistics robot expected to leave is excluded from the occupancy count, and the zone rule of the zone (TZ) is maintained, so that the logistics robot (A) can immediately enter the zone (TZ).

[0146] FIG. 11 is a diagram illustrating a process for controlling whether or not to activate a movement path for a logistics robot according to one embodiment of the present invention. Referring to FIG. 11, a movement area (1103) arranged between a first process area (1101) and a second process area (1102) is illustrated. At this time, the process direction may correspond to the direction from the first process area (1101) to the second process area (1102). For example, assuming that the operating boundary is an automobile factory, when an AGV carrying a loaded vehicle chassis moves across the movement area (1103) from the first process area (1101) to the second process area (1102), the PLC on the production device (120) side can notify the control device (140) of this and request deactivation of the movement area (1103). At this time, if the condition that the occupancy limit count of the movement area (1103) is satisfied due to the movement of the AGV is considered together with the PLC signal and set as the area rule change condition of the movement area (1103), the interlock function can be practically implemented.

[0147] In contrast, when the control device (140) determines that the processes in the first process area (1101) and the second process area (1102) are not in progress based on information about the process status, it can activate the deactivated movement area (1103) so that the logistics robot (A) enters the movement area (1103). Meanwhile, the present invention described above can be implemented as a computer-readable code on a medium having a program recorded thereon. The computer-readable medium includes all types of recording devices that store data that can be read by a computer system. Examples of the computer-readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc. Therefore, the above detailed description should not be construed as limiting in all respects and should be considered 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 included in the scope of the present invention.

Claims

1. A method for controlling a logistics robot operating within a preset operating boundary, A step of setting an area rule including a movement direction for at least one movement area that can be variably set within the above operation boundary; A step of determining whether to change an area rule of a movement area associated with the predetermined area based on status information including at least one of information on the number of occupancies of the logistics robot in a predetermined area within the above-described operation boundary, information on a process status within the above-described operation boundary, and mission information for the logistics robot; and A method for controlling a logistics robot, comprising the step of setting a path of the logistics robot between a starting point and a destination according to the mission information of the logistics robot based on an area rule in which the above decision is reflected.

2. In paragraph 1, The above specified area is, A method for controlling a logistics robot corresponding to a predetermined zone including the above movement area or at least a portion of the above movement area.

3. In paragraph 1, The above area rules are, A method for controlling a logistics robot, comprising at least one of activation of the movement area or a possible movement direction of the movement area.

4. In paragraph 3, The above area rules are, A method for controlling a logistics robot, further comprising at least one of: center offset of a virtual lane, whether to wait before entering, position, size, and deceleration of the logistics robot within the virtual lane.

5. In paragraph 1, A step of setting an occupancy limit number of the logistics robot for the above-mentioned predetermined area; further comprising: The above decision-making steps are: A method for controlling a logistics robot, comprising the step of changing an area rule of a movement area associated with the predetermined area when the occupancy number of the logistics robot reaches the occupancy limit number.

6. In paragraph 5, A method for controlling a logistics robot, further comprising a step of generating the detour movement path according to the changed area rule when determining to generate the detour movement path according to the reaching of the above occupancy limit number.

7. In paragraph 5, The step of setting the above occupancy limit is: Including a step of setting a plurality of state-specific occupancy limits according to the state of each of the above logistics robots, The above changing steps are: A method for controlling a logistics robot, the method being performed when any one of the above multiple state-specific occupancy restrictions is satisfied.

8. In paragraph 7, The status of each of the above logistics robots is: A method for controlling a logistics robot, comprising at least one of a normal state, an error state, whether loading is performed, the type of load when loading, and a specific mission execution state.

9. In paragraph 1, Information on the occupancy of the above logistics robots is: A method for controlling a logistics robot, wherein the method is determined by considering at least one of the moving direction, position, and speed of each logistics robot existing within the moving area.

10. In a control device that controls a logistics robot operating within a preset operating boundary, A map management unit that sets area rules including a movement direction for at least one movement area that can be variably set within the above operation boundary; and A control device including a work schedule management unit that determines whether to change an area rule of a movement area associated with the predetermined area based on status information including at least one of information on the occupancy rate of the logistics robot in a predetermined area within the above-described operation boundary, mission information on the logistics robot, and information on the process status, and sets a path of the logistics robot between a departure point and a destination according to the mission information of the logistics robot based on an area rule in which the decision is reflected.

11. In Article 10, The above specified area is, A control device corresponding to a predetermined zone including the above movement area or at least a portion of the above movement area.

12. In paragraph 10, The above area rules are, A control device comprising at least one of activation of the movement area and a possible movement direction of the movement area.

13. In paragraph 12, The above area rules are, A control device further comprising at least one of a center offset of a virtual lane, whether to wait before entering, a position, a size, and a deceleration of the logistics robot within the virtual lane.

14. In paragraph 11, The above map management department, Set the occupancy limit of the logistics robot for the above-mentioned predetermined area, The above work schedule management department, A control device that changes the area rules of the movement area associated with the predetermined area when the occupancy number of the above logistics robots reaches the occupancy limit number.

15. In paragraph 14, The above work schedule management department, A control device that generates a detour route according to the changed area rule when determining to create a detour route due to reaching the above occupancy limit.

16. In paragraph 14, The above map management department, Set multiple state-specific occupancy limits for each of the above logistics robots, The above work schedule management department, A control device that changes the area rule of a movement area associated with the given area when any one of the above multiple state-specific occupancy restrictions is satisfied.

17. In paragraph 16, The status of each of the above logistics robots is: A control device including at least one of normal state, error state, loading status, type of load when loading, and specific mission execution state.

18. In paragraph 10, Information on the occupancy of the above logistics robots is: A control device that is determined by considering at least one of the movement direction, position, and speed of each logistics robot existing within the movement area.

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