Method and system for controlling logistics robot

Abstract

Introduced is a method and a system for controlling a logistics robot, comprising the steps of: setting one or more path pairs connecting at least one origin and destination; determining at least one candidate path pair related to a mission of a logistics robot among the set one or more path pairs on the basis of information related to the production of goods; and performing transport control of the logistics robot on the basis of the determined at least one candidate path pair.

Description

Method and system for controlling a logistics robot

[0001] The present invention relates to a method and system for controlling a logistics robot to ensure that a process is performed efficiently in a factory using the logistics robot.

[0002]

[0003] Recently, logistics robots are being introduced not only in general logistics warehouses and factories, but also in operational boundaries where various parts are used to manufacture products of different specifications, for the flexible and efficient supply and transport of parts.

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

[0005] In operational boundaries where these logistics robots and control systems are applied, each process can be performed according to the logistics flow. However, direct control of the logistics flow is difficult, and flexible response to changes in the status of each process is impossible, which can affect the overall process rate or product production volume.

[0006] Therefore, it is necessary to propose a method for establishing the logistics flow based on process data and for performing the process of the operational boundary according to the established logistics flow.

[0007]

[0008] 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.

[0009]

[0010] The present invention has been proposed to solve these problems, and aims to provide a method and system for controlling a logistics robot that can efficiently perform a process according to a set logistics flow.

[0011]

[0012] 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.

[0013]

[0014] A method for controlling a logistics robot according to the present invention for achieving the above object may include: a step of setting one or more path pairs connecting at least one starting point and a destination; a step of determining at least one candidate path pair related to a mission of the logistics robot among the one or more set path pairs based on information related to product production; and a step of performing transport control of the logistics robot based on the determined at least one candidate path pair.

[0015]

[0016] In addition, a system for controlling a logistics robot according to the present invention for achieving the above purpose may include a route management device that sets at least one route pair connecting at least one departure point and a destination, and determines at least one candidate route pair related to a mission of the logistics robot among the set at least one route pair based on information related to product production; and at least one control device that performs transportation control of the logistics robot based on at least one candidate route pair determined by the route management device.

[0017]

[0018] According to the method and system for controlling a logistics robot of the present invention, when a problem occurs in a specific section of the logistics flow, the logistics flow is corrected so that the process is normally performed along the corrected logistics flow, thereby efficiently managing the entire process.

[0019] Additionally, when performing a process along the flow of logistics, it is possible to flexibly respond to various situations, thereby increasing production according to the cycle time of the entire process.

[0020]

[0021] 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.

[0022]

[0023] FIG. 1 is a block diagram showing an example of an operational boundary configuration that can be applied to embodiments of the present invention.

[0024] FIG. 2 is a block diagram showing an example of the configuration of a control device that can be applied to embodiments of the present invention.

[0025] FIG. 3 is a block diagram showing an example of the configuration of a logistics robot that can be applied to embodiments of the present invention.

[0026] FIG. 4 is a perspective view showing an example of the appearance of a logistics robot that can be applied to embodiments of the present invention.

[0027] Figure 5 is a flowchart showing an example of a driving process of a logistics robot that can be applied to embodiments of the present invention.

[0028] Figure 6 is a block diagram showing the configuration of a system for controlling a logistics robot according to one embodiment of the present invention.

[0029] FIG. 7 is a drawing for explaining a path pair according to one embodiment of the present invention.

[0030] Figures 8 and 9 are drawings for explaining a change in a path pair according to one embodiment of the present invention.

[0031] FIG. 10 is a drawing for explaining a method for controlling a logistics robot 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 the operational boundary in which the smart logistics vehicle according to the embodiment is deployed and operated is described with reference to Fig. 1.

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

[0043] 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).

[0044] 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. Furthermore, the operational boundary (100) may be implemented as a smart factory, but is not necessarily limited thereto. Each component is described below.

[0045] 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 a single operation boundary (100).

[0046] 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.

[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 the logistics robot (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 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.

[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 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.

[0052] 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.

[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 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 smart logistics robots of the same manufacturer or 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 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).

[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) 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.

[0060] 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.

[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 logistics robots (110) based on missions.

[0063] 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.

[0064] 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.

[0065] The vehicle monitoring unit (147) can monitor the location, route, battery status, communication status, power train status, etc. of individual logistics robots (110). Here, the route is a concept that includes a waypoint-based global route and a real-time local route. In addition, the battery status may include voltage, current, temperature, peak voltage and current, state of charge (SOC: State of Charge), state of health (SOH: State of Health), etc. The communication status may include information on the currently activated communication protocol (such as Wi-Fi), connected AP, distance to the AP, channel in use, etc. In addition, the power train status may include the load, temperature, RPM, etc. of the drivetrain.

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

[0067]

[0068] *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 operation 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 one or more preset actions are performed when the logistics robot (110) enters, may be set, but this is merely an example and is not necessarily limited thereto. In addition, the map management unit (148) may distribute the corresponding map to the remaining logistics robots (110) other than the logistics robot (110) that obtained the initial grid map through actual driving, through the communication unit (146).

[0069] Next, the logistics robot (110) will be described with reference to FIGS. 3 and 4.

[0070] FIG. 3 is a block diagram showing an example of a logistics robot configuration that can be applied to embodiments of the present invention.

[0071] Referring to FIG. 3, the logistics robot (110) may include a driving unit (111), a sensing unit (112), a loading unit (113), a communication unit (114), and a control unit (115). Each component is described below.

[0072] 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.

[0073] The sensing unit (112) is for detecting the surrounding environment or its own operating status of the logistics robot (110), 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.

[0074] 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.

[0075] 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.

[0076] 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).

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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).

[0081] FIG. 4 is a perspective view showing an example of the exterior of a logistics robot that can be applied to embodiments of the present invention.

[0082] Referring to FIG. 4, 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 the 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).

[0083] 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.

[0084] Next, the driving process of the logistics robot (110) will be described with reference to Fig. 5.

[0085] Figure 5 is a flowchart illustrating an example of a driving process of a logistics robot (110) applicable to embodiments of the present invention. In Figure 5, for convenience, it is assumed that the logistics robot (110) is an AMR capable of positioning and local path setting.

[0086] Referring to Fig. 5, first, while the AMR drives within the operating boundary (100), it can obtain a real-world grid map through lidar, etc. (S501).

[0087] 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) (S502). 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.

[0088] 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.

[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 perform a process efficiently by receiving information based on a set logistics flow and providing a logistics flow that matches the received information.

[0098] Hereinafter, a system for controlling a logistics robot according to an embodiment will be described with reference to FIG. 6.

[0099] Figure 6 is a block diagram showing the configuration of a system for controlling a logistics robot according to one embodiment of the present invention.

[0100] Referring to FIG. 6, a system for controlling a logistics robot according to an embodiment of the present invention may include a logistics robot (110-1, 110-2), a plurality of control devices (140-1, 140-2) that control the logistics robots (110-1, 110-2) corresponding to each other, a route management device (150) that provides information on a route pair connecting a starting point and a destination to each of the plurality of control devices (140-1, 140-2), and a product production management system (160).

[0101] Each component will be described below, but the path management device (150) will be described first.

[0102] The route management device (150) may set one or more route pairs connecting at least one starting point and one destination, and determine at least one candidate route pair related to the mission of the logistics robot (110) among the one or more route pairs set based on information related to product production. To this end, the route management device (150) may include an information collection unit (151), a pair setting unit (152), and a pair determination unit (153). However, this is merely exemplary, and it goes without saying that the actual route management device (150) may include fewer or more components when implementing its functions.

[0103] The information collection unit (151) can collect information necessary to establish and determine a route pair. For example, the information collection unit (151) can collect at least one of production sequence information and process setting information. The information collection unit (151) can collect production sequence information from a product production management system (160) equipped to manage the production of products within the operation boundary (100). However, this is merely exemplary and should not be construed as limiting.

[0104] In addition, the information collection unit (151) can collect process setting information from the production device (120) or the monitoring device (130). Here, the process setting information may refer to initial setting information of the production device (120) or the monitoring device (130) that is initially set for process execution.

[0105] The pair setting unit (152) can set one or more path pairs connecting the starting point and the destination by setting one of at least one supply port, one or more recovery port, and one or more work cells, each of which is provided for each process, as the starting point and the other as the destination. Specifically, the pair setting unit (152) can set at least one starting point and destination based on information collected by the information collection unit (151), and can set one or more path pairs connecting at least one starting point and destination.

[0106] For example, the operation boundary (100) may be equipped with a plurality of processes, and each process may be equipped with at least one supply port, at least one return port, or at least one work cell. The pair setting unit (152) may set one or more path pairs connecting the start and destination, with the work cell of one of the work processes among the plurality of processes as the starting point and the work cell of another work process among the plurality of processes as the destination, in order to perform a work mission between the processes. However, this is merely exemplary and the present invention is not necessarily limited thereto. For example, the pair setting unit (152) may set one or more path pairs connecting the start and destination, with the supply port of one of the plurality of processes as the starting point and the supply port or work cell of a process requiring a part among the plurality of processes as the destination, in order to supply parts required for the process. In addition, the pair setting unit (152) may set one or more path pairs with the work cell of one of the plurality of processes as the starting point and the recovery port of one of the plurality of processes as the destination for procuring parts required for the process.

[0107] Additionally, the pair setting unit (152) may set one or more route pairs connecting one origin and one or more destinations. However, this is merely exemplary and the present invention is not necessarily limited thereto. For example, the pair setting unit (152) may set one or more route pairs connecting one or more origins and one or more destinations corresponding to one or more origins, or may set one or more route pairs connecting one or more origins and one destination.

[0108] In addition, the pair setting unit (152) may set the route pair so that at least one waypoint existing between the departure point and the destination is included when setting one or more route pairs connecting the departure point and the destination. For example, if at least one waypoint is included between the departure point and the destination, the pair setting unit (152) may set one or more route pairs connecting the departure point, at least one waypoint, and the destination.

[0109] Referring to FIG. 7 below, a path pair set by a pair setting unit (152) according to an embodiment of the present invention will be described.

[0110]

[0111] FIG. 7 is a drawing for explaining a path pair according to one embodiment of the present invention.

[0112] Referring to Fig. 7, a plurality of processes (processes A to H) may be provided within the operation boundary (100). The pair setting unit (152) of the path management device (150) may set a path pair that connects each of the plurality of processes based on the collected information. For example, the pair setting unit (152) may set a path pair that connects the starting point, the stopover points, and the destination points by using process A as the starting point, processes B to D as the transit points, and processes E to H as the destination points. However, this is merely exemplary, and the present invention is not limited thereto. For example, the pair setting unit (152) may set a path pair that connects the starting point and the destination points by using process A as the starting point and processes B to D as the destination points, or may set a path pair that connects the starting point and the destination points by using processes B to D as the starting point and processes E to H as the destination points. That is, the pair setting unit (152) may set a relatively long route pair that includes a stopover between the departure point and the destination, or may set a relatively short route pair that consists only of the departure point and the destination without including a stopover.

[0113]

[0114] Referring back to FIG. 6, when one or more path pairs are set as described above, the pair setting unit (152) can store one or more set path pairs in a separately provided memory (not shown). However, this is merely exemplary and the present invention is not necessarily limited thereto. For example, the memory may be provided together with the path management device (150) or the pair setting unit (152), or may be provided separately from the path management device (150).

[0115] After a path pair is set in the pair setting unit (152), the information collection unit (151) can collect information related to product production, and the pair decision unit (153) can receive the information collected by the information collection unit (151). The information related to product production can include process status information of the production device (120) or the monitoring device (130) over time, and the process status information can include information on at least one of whether the light curtain equipped in each process is ON / OFF, whether the safety sensor is ON / OFF, whether entry is possible, and whether exit is possible.

[0116] In addition, the pair determination unit (153) can determine at least one candidate path pair related to the mission of the logistics robot (110) among one or more path pairs set by the pair setting unit (152) based on information related to product production. For example, the pair determination unit (153) can determine the mission of the logistics robot (110) based on information related to product production. At this time, the information related to product production may refer to process status information collected by the information collection unit (151), but this is exemplary and is not necessarily limited thereto.

[0117] In addition, the pair decision unit (153) may determine the mission of the logistics robot (110) by further considering the parts supply information in addition to the information related to the production of goods. To this end, the information collection unit (151) may additionally collect the parts supply information and provide the collected parts supply information to the pair decision unit (153). The parts supply information may include at least one of information on the parts used in each process, information on the supply port and return port through which the parts are supplied, and information on the process requiring the parts, and may be information provided from the aforementioned product production management system (160). However, this is merely exemplary and should not be construed as being limited thereto.

[0118] Once the mission is determined, the pair determination unit (153) can determine at least one candidate route pair that connects the departure point and destination corresponding to the determined mission among one or more route pairs set in the pair setting unit (152).

[0119] In addition, the pair determination unit (153) can provide information on at least one determined candidate route pair to each of the plurality of control devices (140-1, 140-2). That is, the route management device (150) can provide at least one determined candidate route pair for different heterogeneous devices. At this time, in order to provide information to the plurality of control devices (140-1, 140-2), the route management device (150) may further be equipped with a communication unit (not shown) capable of transmitting information. However, this is merely exemplary and, of course, is not necessarily limited thereto.

[0120] A plurality of control devices (140-1, 140-2) can perform transport control of logistics robots (110-1, 110-2) based on at least one candidate route pair determined and provided by the route management device (150). To this end, each of the plurality of control devices (140-1, 140-2) can include a communication unit (146-1, 146-2) and a route control unit (149-1, 149-2). The plurality of control devices (140-1, 140-2) only control smart logistics vehicles (110-1, 110-2) that perform different missions, and there is no difference in their functions. Therefore, for the convenience of explanation, the functions of the communication unit (146-1) and the route control unit (149-1) provided in the first control device (140-1) will be described below. Of course, this can be equally applied to the second control device (140-2).

[0121] The communication unit (146-1) can transmit information on at least one candidate path pair provided from the path management device (150) to the path control unit (149-1). In addition, the communication unit (146-1) can also receive process status information related to at least one candidate path pair provided from the path management device (150) and transmit the information to the path control unit (149-1). In addition, the communication unit (146-1) can perform communication with a logistics robot (110-1) controlled by the first control device (140-1) and transmit control information generated by the path control unit (149-1).

[0122] The path control unit (149-1) may determine a final path pair among at least one candidate path pair based on process status information related to at least one candidate path pair received from the communication unit (146-1), and may perform transportation control of the logistics robot (110-1) based on the determined final path pair. At this time, if there are multiple final path pairs determined by the path control unit (149-1), the path control unit (149-1) may determine the distance for each of the multiple final path pairs, and determine one final path pair having the shortest distance. In addition, the path control unit (149-1) may perform transportation control of the logistics robot (110-1) based on one final path pair having the determined shortest distance. However, this is merely exemplary and is not necessarily limited thereto.

[0123] Meanwhile, the path control unit (149-1) can generate a global path including multiple waypoints corresponding to the determined final path pair. Furthermore, the path control unit (149-1) can perform transportation control of the logistics robot (110-1) based on the generated global path, thereby allowing the logistics robot (110-1) to move along multiple waypoints. However, this is merely an example and should not be construed as being limited thereto.

[0124]

[0125] After the transport control of the logistics robot (110-1) is performed based on the final route pair, the route control unit (149-1) can collect process status information related to the final route pair. For example, the process status information related to the final route pair may be information on whether it is possible to leave the current process when moving along the final route pair or information on whether it is possible to enter the next process. That is, the route control unit (149-1) can receive process status information when the logistics robot (110-1) is moving between processes along the route pair or is about to move to the next process, and can determine based on the process status information whether the logistics robot (110-1) can exit from the starting point along the final route pair or whether the logistics robot (110-1) can enter the destination.

[0126] If, as a result of the judgment, the logistics robot (110-1) cannot proceed from the departure point or cannot enter the destination, the path control unit (149-1) may change the predetermined final path pair to another one of at least one candidate path pair previously provided from the path management device (150). At this time, the path control unit (149-1) may change the path pair to another one corresponding to the same mission as the final path pair among the at least one candidate path pair. Then, the path control unit (149-1) may re-perform the transport control of the logistics robot (110-1) based on the changed path pair. This will be described with reference to FIGS. 8 and 9.

[0127]

[0128] Figures 8 and 9 are drawings for explaining a change in a path pair according to one embodiment of the present invention.

[0129] First, referring to FIG. 8, it is assumed that at least one candidate path pair is determined in the path management device (150) and the candidate path pair transmitted to the path control unit (149-1) of the first control device (140-1) includes a first path pair connecting processes A, B, and F and a second path pair connecting processes A, D, and F. In addition, it is assumed that among the first and second path pairs, the first path pair is the final path pair having the shortest distance.

[0130] The path control unit (149-1) can determine whether transport control of the logistics robot (110-1) is possible based on the process status information related to the collected final path pair. In a situation where the logistics robot (110-1) must depart from process A and arrive at process F, if it is determined that entry to process B, which is a stopover, is impossible based on the process status information and thus transport control of the logistics robot (110-1) along the first path pair is impossible, the path control unit (149-1) can re-perform transport control of the smart logistics vehicle (110-1) based on a second path pair that forms a path to process F via another stopover. At this time, the path control unit (149-1) can determine whether entry to process D, which is another stopover, is possible based on the process status information, and if entry to process D is possible, transport control of the logistics robot (110-1) can be performed based on the second path pair.

[0131] As another example, referring to FIG. 9, it is assumed that at least one path pair determined by the path management device (150) includes a first path pair connecting process A, process B, and process E, a second path pair connecting process A, process B, and process F, and a third path pair connecting process A, process B, and process G. In addition, it is assumed that the second path pair among these is the final path pair having the shortest distance.

[0132] The path control unit (149-1) can determine whether it is possible to perform transport control of the logistics robot (110-1) along the second path pair based on process status information related to the collected final path pair. For example, if it is impossible to perform transport control to the F process on the second path pair, the path control unit (149-1) can change to another candidate path pair among the multiple candidate path pairs provided by the path management device (150).

[0133] However, this is an example and, of course, it is not necessarily limited thereto. For example, based on the process status information collected by the path control unit (149-1), it is determined whether transport control of the logistics robot (110-1) according to the final path pair is possible, and if it is determined that transport control is impossible, a path pair reallocation command may be transmitted to the path management device (150) to be reallocated to a new path pair capable of performing transport control. In this case, the path management device (150) may collect information again, redetermine the path pair based on the collected information, and transmit the redetermined path pair to the first control device (140-1). That is, the change of the route pair may be performed independently within the first control device (140-1), or, if the first control device (140-1) determines that a change of the route pair is necessary, the change of the route pair may be performed by changing the route pair in the route management device (150) and retransmitting it to the first control device (140-1).

[0134]

[0135] Hereinafter, FIG. 10 describes a method for controlling a logistics robot using the system for controlling the logistics robot of FIG. 6 described above. However, in FIG. 6, multiple control devices (140-1, 140-2) are depicted as receiving information from a single route management device (150), but in FIG. 10, for convenience of explanation, it is assumed that a single control device (140) receives information from a single route management device (150). However, this is merely exemplary, and it should be understood that the same applies to each of the multiple control devices (140-1, 140-2).

[0136] Also, referring to FIG. 6, the control device (140) is composed of a communication unit (146) and a path control unit (149), and functions are performed in each component. However, in FIG. 10, for convenience of explanation, it is assumed that all functions performed in each component are performed in the control device (140).

[0137] FIG. 10 is a drawing for explaining a method for controlling a logistics robot according to one embodiment of the present invention.

[0138] Referring to FIG. 10, the information collection unit (151) of the path management device (150) can collect production sequence information provided from the product production management system (160) (S101-1) and process setting information provided from the production device (120) or the monitoring device (130) (S101-2, S101-3). In addition, the information collection unit (151) can transmit the collected information to the pair setting unit (152) (S102-1, S102-2, S102-3).

[0139] The pair setting unit (152) of the route management device (150) can select at least one starting point and destination based on the information provided by the information collection unit (151) and set up one or more route pairs connecting at least one starting point and destination (S103). A detailed description of the step of setting up a route pair (S103) has been described above with reference to FIG. 6, and thus will be omitted.

[0140] Thereafter, the information collection unit (151) can collect information related to product production from the production device (120) or the monitoring device (130) (S104-1, S104-2), and can also collect parts supply information from the product production management system (160) (S104-3). In addition, the information collection unit (151) can transmit the collected information related to product production and parts supply information to the pair determination unit (153) (S105).

[0141] The pair determination unit (153) of the path management device (150) can determine the mission of the logistics robot (110) based on at least one of information related to product production and parts supply information, and can determine at least one candidate path pair connecting the departure point and destination corresponding to the determined mission among one or more path pairs set by the pair setting unit (152) (S106). A detailed description of the step (S106) of determining at least one candidate path pair is omitted as it has been described above with reference to FIG. 6.

[0142]

[0143] The pair decision unit (153) can transmit information about at least one determined candidate route pair to the control device (140) (S107). According to an embodiment of the present invention, although it is expressed that the pair decision unit (153) transmits information about at least one determined candidate route pair to the control device (140), this is exemplary, and the pair decision unit (153) can transmit information about at least one determined candidate route pair to a communication unit (not shown) separately provided in the route management device (150), and can also transmit information about at least one candidate route pair to an external device (e.g., the control device (140)) through the communication unit.

[0144] In addition, the control device (140) can collect process status information related to at least one candidate path pair provided from the path management device (150) from the production device (120) or the monitoring device (130) (S108-1, S108-2).

[0145] The control device (140) can determine a final route pair from among at least one candidate route pair provided from the route management device (150) based on process status information related to at least one collected candidate route pair (S109). Furthermore, the control device (140) can transmit a transport control command to the logistics robot (110) based on the determined final route pair (S110). Accordingly, the logistics robot (110) can perform transport work along the final route pair based on the transport control command. A detailed description of steps S109 to S110 will be omitted as it has been described above with reference to FIGS. 6 to 9.

[0146] Thereafter, the control device (140) may collect process status information related to the final route pair while performing transport control of the logistics robot (110), and may determine whether the logistics robot (110) can advance to the starting point or whether the logistics robot (110) can enter the destination based on the collected process status information. If the logistics robot (110) cannot advance to the starting point or cannot enter the destination, the control device (140) may change the predetermined final route pair to another one of at least one candidate route pair provided from the route management device (150) and re-perform transport control of the logistics robot (110).

[0147]

[0148] Thus, according to the operational boundary control method and control system according to the embodiment of the present invention, if a problem occurs in a specific process within the logistics flow, the logistics flow can be modified to ensure that the process is carried out normally along the modified logistics flow, thereby efficiently managing the entire process. Furthermore, when performing a process along the logistics flow, it is possible to flexibly respond to various situations, thereby increasing production output based on the overall process cycle time.

[0149]

[0150] 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.

[0151] 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.

[0152]

[0153] [Explanation of symbols]

[0154] 100: Operational Boundary

[0155] 110: Logistics Robot

[0156] 120: Production device

[0157] 130: Surveillance device

[0158] 140: Control device

[0159] 150: Path management device

[0160] 160: Product Production Management System

Claims

1. A step of establishing one or more route pairs connecting at least one origin and destination; A step of determining at least one candidate path pair related to the mission of the logistics robot among one or more path pairs set above based on information related to the production of goods; and A method for controlling a logistics robot, comprising: a step of performing transport control of the logistics robot based on at least one candidate path pair determined above; 2. In claim 1, The steps to set up above are A method for controlling a logistics robot, comprising: a step of setting at least one supply port, at least one return port, and at least one work cell, each of which is provided for each process, as a starting point and the other as a destination, and setting at least one path pair connecting the starting point and the destination.

3. In claim 1, The steps to set up above are A method for controlling a logistics robot, characterized in that it comprises a step of setting one or more path pairs connecting the departure point, the at least one waypoint, and the destination, when at least one waypoint is included between the departure point and the destination.

4. In claim 1, The steps to set up above are A step of collecting at least one of production sequence information and process setting information; and A method for controlling a logistics robot, characterized by comprising: a step of setting at least one path pair connecting at least one starting point and one destination based on at least one piece of information collected above; 5. In claim 1, The above decision steps are A step of determining the mission of the logistics robot based on information related to the production of the above goods; and A method for controlling a logistics robot, characterized by comprising: a step of determining at least one candidate route pair connecting a starting point and a destination corresponding to the determined mission among the above-determined route pairs.

6. In claim 5, The steps to determine the above mission are: Steps for collecting parts supply information; and A method for controlling a logistics robot, characterized in that it comprises a step of determining a mission of the logistics robot by further considering the collected parts supply information in the information related to the production of the goods.

7. In claim 6, The steps performed above are A method for controlling a logistics robot, characterized by comprising: a step of performing transportation control of the logistics robot so that a part corresponding to the part supply information is transported based on the determined path pair.

8. In claim 1, The steps performed above are A step of collecting process status information related to at least one candidate path pair determined above; A step of determining a final path pair among at least one candidate path pair based on the collected process status information; and A method for controlling a logistics robot, characterized by comprising: a step of performing transport control of the logistics robot based on the determined final path pair.

9. In claim 8, The steps performed above are A step of generating a global path including a plurality of waypoints corresponding to the final path pair determined above; and A method for controlling a logistics robot, characterized by comprising: a step of performing transport control of the logistics robot based on the generated global pass.

10. In claim 8, After performing the above steps, A step of collecting process status information related to the above final path pair; A step of determining whether the logistics robot can advance to the starting point or whether the logistics robot can enter the destination based on the collected process status information; and A method for controlling a logistics robot, characterized in that it further includes a step of re-performing transport control of the logistics robot by changing the final route pair to another one of the at least one candidate route pair when the logistics robot cannot advance to the departure point or cannot enter the destination point.

11. A route management device that sets at least one route pair connecting at least one origin and destination, and determines at least one candidate route pair related to the mission of the logistics robot among the set at least one route pair based on information related to the production of goods; and A system for controlling a logistics robot, comprising: at least one control device for performing transport control of the logistics robot based on at least one candidate route pair determined by the route management device; 12. In claim 11, The above path management device A system for controlling a logistics robot, characterized in that one of at least one supply port, at least one return port, and at least one work cell provided for each process is set as a starting point and the other is set as a destination, and at least one path pair connecting the starting point and the destination is set.

13. In claim 11, The above path management device A system for controlling a logistics robot, characterized in that when at least one waypoint is included between the departure point and the destination, one or more path pairs connecting the departure point, the at least one waypoint, and the destination are set.

14. In claim 11, The above path management device A system for controlling a logistics robot, characterized in that it collects at least one piece of information from among production sequence information and process setting information, and sets at least one path pair connecting at least one departure point and destination based on the at least one piece of information collected.

15. In claim 11, The above path management device A system for controlling a logistics robot, characterized in that the system determines the mission of the logistics robot based on information related to the production of the goods, and determines at least one candidate route pair connecting a starting point and a destination corresponding to the determined mission among the set route pairs.

16. In claim 15, The above path management device A system for controlling a logistics robot, characterized in that it collects the above-mentioned parts supply information and determines the mission of the logistics robot by further considering the collected parts supply information in information related to the production of the product.

17. In claim 16, At least one of the above control devices A system for controlling a logistics robot, characterized in that it performs transportation control of the logistics robot so that a part corresponding to the part supply information is transported based on the route pair determined by the above route management device.

18. In claim 11, At least one of the above control devices A system for controlling a logistics robot, characterized in that it collects process status information related to at least one candidate route pair determined by the above route management device, determines a final route pair among the at least one candidate route pair based on the collected process status information, and performs transport control of the logistics robot based on the determined final route pair.

19. In claim 18, At least one of the above control devices A system for controlling a logistics robot, characterized in that it generates a global path including a plurality of waypoints corresponding to the final path pair determined above, and performs transport control of the logistics robot based on the generated global path.

20. In claim 18, At least one of the above control devices A system for controlling a logistics robot, characterized in that after the transportation control of the logistics robot is performed, process status information related to the determined final route pair is collected, and based on the collected process status information, whether the logistics robot can advance to the starting point or whether the logistics robot can enter the destination is determined, and if the logistics robot cannot advance to the starting point or cannot enter the destination, the final route pair is changed to another one of the at least one candidate route pair and the transportation control of the logistics robot is re-performed.

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